Suturing device and suturing system

Abstract

The present application relates to a kind of stitching device and suture system.Suture device includes: first base, first base is provided with first channel through its length direction, the bottom of first base is provided with needle hole with the far end of first channel communication;Tissue acquisition structure below first base, tissue acquisition structure is configured to grasp or release the human tissue to be sutured;Rotary drive structure, rotary drive structure is arranged in first base, the output end of rotary drive structure extends the far end of first base;Needle structure, needle structure includes suture, needle holder and with the detachable insertion of needle assembly one end of needle holder, the other end of needle holder is connected with the output end of rotary drive structure, needle holder and needle assembly insertion one end is pointed, suture is connected with needle assembly;And limiting structure, limiting structure is arranged in first channel, limiting structure is configured to fix or loosen needle assembly.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to suturing devices and suturing systems. Background Technology

[0002] Endoscopic surgery has developed rapidly over the past decade. Endoscopic procedures often require suturing human tissue, thus necessitating simple and effective devices for endoscopic suturing or repair. Such devices can perform tissue suturing with minimal trauma.

[0003] Current suturing devices typically use multiple staples to fix the wound, and then use sutures to tighten the staples and suture the wound. This method requires the staples to remain inside the body, resulting in a large amount of material remaining in the body, which is detrimental to the safety of suturing. At the same time, the staples can only be inserted into the suturing position one at a time, which is cumbersome and does not improve suturing efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide a suturing device and suturing system to improve the safety and efficiency of suturing.

[0005] An embodiment of the first aspect of this application provides a suturing device, comprising: a first base having a first channel extending along its length, and a needle-receiving through-hole communicating with the distal end of the first channel at the bottom of the first base; a tissue acquisition structure located below the first base, the tissue acquisition structure being configured to grasp or release human tissue to be sutured; a rotation drive structure disposed in the first base, the output end of the rotation drive structure extending beyond the distal end of the first base; a suture needle structure including a suture thread, a needle holder, and a needle assembly detachably inserted into one end of the needle holder, the other end of the needle holder being connected to the output end of the rotation drive structure, the end of the needle holder inserted into the needle assembly being pointed, the suture thread being connected to the needle assembly, the suture needle structure being configured to, under the drive of the rotation drive structure, cause the needle assembly to penetrate deeper or move further away from the needle-receiving through-hole; and a limiting structure disposed in the first channel, the limiting structure being configured to fix or release the needle assembly.

[0006] In some embodiments, the rotary drive structure includes a linear motion member, a screw, a needle holder mounting portion, and a first steel wire connected to the linear motion member. The first base is provided with a second channel and a third channel extending along its length, the second channel communicating with the third channel. The linear motion member is disposed in the second channel. The screw extends out of the distal end of the first base through the third channel and is connected to one end of the needle holder mounting portion. The other end of the needle holder mounting portion is connected to the needle holder. The linear motion member is slidably connected to the screw. The screw is configured to rotate when the linear motion member moves along the second channel.

[0007] In some embodiments, the linear motion component is a slider;

[0008] The screw is provided with a first helical groove, and the slider is provided with a first protrusion that matches the first helical groove.

[0009] Alternatively, the screw may be provided with a first helical protrusion, and the slider may be provided with a first groove that matches the first helical protrusion.

[0010] In some embodiments, the linear motion component is a nut;

[0011] The screw is provided with an external thread, and the nut is provided with an internal thread that is compatible with the external thread;

[0012] Alternatively, the screw may be provided with a second helical groove, and the nut may be provided with a second protrusion that matches the second helical groove;

[0013] Alternatively, the screw may be provided with a second helical protrusion, and the nut may be provided with a second groove that matches the second helical protrusion.

[0014] In some embodiments, the rotary drive structure includes a needle holder mounting portion, a hollow screw, and a straight rod sleeved inside the hollow screw. The first base is provided with a fourth channel extending through its length. The hollow screw extends out of the far end of the first base through the fourth channel and is connected to one end of the needle holder mounting portion. The other end of the needle holder mounting portion is connected to the needle holder. The surface of the hollow screw is provided with a helical slit, and the end of the straight rod is provided with a third protrusion for engaging with the helical slit.

[0015] In some embodiments, the needle assembly includes a needle tip and a needle tube, the suture is connected to the needle tube, one end of the needle tube is detachably inserted into the needle holder, and the other end is connected to the needle tip, the needle tip being pointed or flat.

[0016] In some embodiments, the needle tip is provided with a circumferential groove;

[0017] The limiting structure includes a positioning block and a second steel wire connected to the positioning block. The positioning block is configured to move along the first channel under the drive of the second steel wire. The positioning block is provided with a limiting protrusion that matches the circumferential groove.

[0018] Preferably, the limiting protrusion is a straight protrusion or a circular arc protrusion.

[0019] In some embodiments, the tissue acquisition structure includes a second base disposed below the first base, a gripping head sleeve, and a gripping head sleeved within the gripping head sleeve. The second base is provided with a fifth channel extending through the length of the first base, the gripping head sleeve is disposed in the fifth channel, and the end of the gripping head near the distal end of the fifth channel is spiral-shaped.

[0020] In some embodiments, the plane containing the rotation direction of the needle holder is perpendicular to the length direction of the base.

[0021] In some embodiments, the rotary drive structure further includes a fixed shaft disposed in the second channel, the first steel wire includes a first side and a second side wound around the fixed shaft, the second side being closer to the screw than the first side, and the linear motion member being fixedly connected to the second side.

[0022] An embodiment of the second aspect of this application provides a suturing system including an endoscope and the suturing device described in the first aspect, wherein the endoscope is fixedly connected to the first base.

[0023] The suturing device of this application embodiment has a simple structure. Through the cooperation of the rotation drive structure, the suture needle structure and the limiting structure, it can complete the process of single suturing and continuous multiple suturing, thereby improving the convenience and efficiency of suturing operation and thus improving the surgical experience of the personnel. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the assembly of the endoscope and suturing device of the suturing system according to an embodiment of this application;

[0025] Figure 2 This is an exploded view of the endoscope and suturing device of the suturing system according to an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the structure for capturing human tissue in an embodiment of this application.

[0027] Figure 4 for Figure 3 A schematic diagram of the cross-section along the middle edge BB;

[0028] Figure 5 This is a schematic diagram of the suture needle structure puncturing human tissue according to an embodiment of this application;

[0029] Figure 6 for Figure 5 A schematic diagram of the cross-section along the middle CC.

[0030] Figure 7 This is a schematic diagram of the suture needle structure completing a single suture according to an embodiment of this application;

[0031] Figure 8 Figure 7 A schematic diagram of the cross-section along the middle DD;

[0032] Figure 9 This is an exploded view of the needle holder and needle assembly according to an embodiment of this application;

[0033] Figure 10 This is a schematic diagram of the needle tip of a positioning block fixing needle assembly according to one embodiment of this application;

[0034] Figure 11 for Figure 10 A schematic diagram of the cross-section along the middle edge of EE;

[0035] Figure 12 This is a front view of the suture needle holder of the suture system according to an embodiment of this application in the second position;

[0036] Figure 13 for Figure 12 A schematic diagram of the cross-section along the middle FF;

[0037] Figure 14 This is a schematic diagram of the structure of a screw and nut according to an embodiment of this application;

[0038] Figure 15 This is a schematic diagram of another screw and nut according to an embodiment of this application;

[0039] Figure 16 This is a schematic diagram of the structure of a hollow screw and a straight rod according to an embodiment of this application;

[0040] Figure 17 This is a schematic diagram of the connection between the first steel wire and the fixed shaft in an embodiment of this application.

[0041] The attached figures are labeled as follows:

[0042] 10-Suture system; 100-Suture device; 110-First base; 111-First channel; 112-Needle receiving hole; 113-Second channel; 114-Third channel; 115-Fixed shaft;

[0043] 120 - Tissue acquisition structure; A - Human tissue; 121 - Second base; 122 - Grasping head cannula; 123 - Grasping head; 1211 - Fifth channel;

[0044] 130 - Rotary drive structure; 131 - Linear motion component; 132 - Screw; 133 - Needle holder mounting part; 134 - First steel wire; 135 - Slider; 1321 - First spiral groove; 1351 - First protrusion; 136 - Nut; 1322 - External thread; 1361 - Internal thread; 1323 - Second spiral groove; 1362 - Second protrusion; 137 - Steel wire sleeve; 138 - Steel wire mounting seat; 139 - Screw mounting seat; 200 - Hollow screw; 210 - Straight rod; 201 - Spiral gap; 211 - Third protrusion; 1341 - First side; 1342 - Second side;

[0045] 140 - Needle structure; 141 - Suture; 142 - Needle base; 143 - Needle assembly; 1431 - Needle tip; 1432 - Needle tube; 1433 - Circumferential groove;

[0046] 150 - Limiting structure; 151 - Positioning block; 152 - Second steel wire; 1511 - Limiting protrusion;

[0047] 300-Endoscope. Detailed Implementation

[0048] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0049] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0053] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0054] like Figures 1 to 4 As shown, Figure 1 This is a schematic diagram of the assembly of the endoscope 300 and the suturing device 100 in the suturing system 10 according to an embodiment of this application. Figure 2 This is an exploded view of the endoscope 300 and suturing device 100 of the suturing system 10 according to an embodiment of this application. Figure 3 This is a schematic diagram of the tissue acquisition structure 120 in an embodiment of this application for grasping human tissue. Figure 4 for Figure 3A cross-sectional schematic diagram along the middle edge BB. An embodiment of the first aspect of this application provides a suturing apparatus 100. The suturing apparatus 100 includes a first base 110, a tissue acquisition structure 120 located below the first base 110, a rotation drive structure 130, a needle structure 140, and a limiting structure 150. The first base 110 is provided with a first channel 111 extending through its length, and the bottom of the first base 110 is provided with a needle receiving through hole 112 communicating with the distal end of the first channel 111. The tissue acquisition structure 120 is configured to grasp or release human tissue A to be sutured at its distal end. The rotation drive structure 130 is disposed in the first base 110, and the output end of the rotation drive structure 130 extends beyond the distal end of the first base 110. The needle structure 140 includes a suture 141, a needle holder 142, and a needle assembly 143 detachably inserted into one end of the needle holder 142. The other end of the needle holder 142 is connected to the output end of the rotary drive structure 130, and the end of the needle holder 142 that inserts into the needle assembly 143 is pointed. The suture 141 is connected to the needle assembly 143, and the needle structure 140 is configured to, under the drive of the rotary drive structure 130, cause the needle assembly 143 to penetrate or move away from the needle receiving through hole 112. A limiting structure 150 is disposed in the first channel 111, and the limiting structure 150 is configured to fix or release the needle assembly 143.

[0055] The suturing device 100 of this application embodiment has a simple structure and is easy to operate. Specifically, it includes a first base 110, a tissue acquisition structure 120, a rotation drive structure 130, a suture needle structure 140, and a limiting structure 150. The first base 110 is the main body of the suturing device 100, and both the rotation drive structure 130 and the limiting structure 150 are disposed in the first base 110. The tissue acquisition structure 120 refers to a component used to acquire or release human tissue to be sutured. Its method of acquiring human tissue can be varied, such as through vacuum adsorption, physical grasping, etc., and this application does not limit this.

[0056] The rotary drive structure 130, the needle structure 140, and the limiting structure 150 are the main components of the suturing device 100 for performing suturing operations. The needle structure 140 includes a suture 141, a needle holder 142, and a needle assembly 143. The suture 141 is connected to the needle assembly 143, and the needle assembly 143 is detachably inserted into the needle holder 142. The needle holder 142 is also connected to the output end of the rotary drive structure 130. That is, the needle assembly 143 and the needle holder 142 can be connected or separated according to the suturing process. The detachable insertion method can be an interference fit based on the material elasticity of the needle holder 142 and the needle assembly 143 themselves. For example, in an interference fit, when the separation force is less than a certain threshold, they are connected; when the separation force is greater than or equal to a certain threshold, they are separated.

[0057] The needle holder 142 is fixedly connected to the rotary drive structure 130. The needle holder 142 is hook-shaped and has the following features: Figure 4 The initial first position shown, and the position after rotation as shown Figure 1 The second position is shown. After the tissue acquisition structure 120 grasps the human tissue A to be sutured, the rotation path of the needle holder 142 passes through the human tissue A. The needle receiving through hole 112 of the first base 110 is used to insert the needle assembly 143 of the needle structure 140. The end of the needle holder 142 that is inserted into the needle assembly 143 is pointed, therefore, the needle holder 142 can be used as a needle to puncture the human tissue A.

[0058] The limiting structure 150 is located in the first channel 111, and the distal end of the first channel 111 communicates with the needle receiving hole 112. The distal end refers to the end of the first base 110 near the needle structure 140. When the needle assembly 143 is inserted into the needle receiving hole 112 of the first base 110, the limiting structure 150 will fix or release the needle assembly 143. That is, the limiting structure 150 can choose to fix or release the needle assembly 143 according to the suturing process.

[0059] The suturing process of the suturing device 100 of this application is as follows: Specifically, firstly, the tissue acquisition structure 120 grasps the human tissue A to be sutured at its distal end, and the needle assembly 143 is fixed in the needle receiving hole 112 by the limiting structure 150. Then, the rotation drive structure 130 drives the needle holder 142 to rotate to a second position, and its rotation path passes through the human tissue A. The suture 141 is connected to the needle assembly 143. After the needle holder 142 passes through the human tissue A, it is inserted into the needle assembly 143 fixed in the needle receiving hole 112. At this time, the limiting structure 150 is configured to release the needle assembly 143. Finally, the rotation drive structure 130 drives the needle holder 142 to rotate in the opposite direction, so that it returns to the initial first position, and the tissue acquisition structure 120 releases the human tissue A. Since the needle assembly 143 is inserted into the needle holder 142, and the needle assembly 143 is released, the needle holder 142 rotates in the opposite direction with the needle assembly 143. In this way, the suture will pass through the human tissue A as it rotates in the opposite direction following the needle assembly 143, thus completing one suturing process.

[0060] Furthermore, when the needle holder 142 is used as a puncture head, the suturing device 100 performs continuous suturing as follows: After a single suture, the rotary drive structure 130 drives the needle holder 142 to rotate to the second position, at which point the needle holder 142, along with the needle assembly 143, is inserted into the needle receiving hole 112. Next, the limiting structure 150 is configured to fix the needle assembly 143, and the rotary drive structure 130 drives the needle holder 142 to rotate to the first position, at which point the needle assembly 143 disengages from the needle holder 142 and is limited within the needle receiving hole 112. Then, by repeating the steps of a single suture as described above, continuous suturing of human tissue A can be achieved.

[0061] As described above, the suturing device 100 of this application has a simple structure. Through the cooperation of the rotary drive structure 130, the suture needle structure 140, and the limiting structure 150, it can complete both single suturing and continuous suturing processes. Compared with the suturing method using suture staples in related technologies, the suturing device 100 of this application leaves fewer implants in the human body, thereby improving suturing safety. In addition, this application can complete both single and continuous suturing of tissues by operating the rotary drive structure 130 and the limiting structure 150 respectively, which also helps to improve the convenience and efficiency of suturing operations, and thus improves the surgical experience for personnel.

[0062] In some embodiments, such as Figure 2 and Figure 4 As shown, the needle assembly 143 includes a needle tip 1431 and a needle tube 1432. The suture 141 is connected to the needle tube 1432. One end of the needle tube 1432 is detachably inserted into the needle holder 142, and the other end is connected to the needle tip 1431. The needle tip 1431 is pointed or flat.

[0063] This embodiment illustrates the specific structure of the needle assembly 143. The needle assembly 143 includes a needle tip 1431 and a needle tube 1432. The needle tip 1431 is pointed or planar. During the suturing process described above, the needle holder 142 completes the puncture of human tissue A. At this time, the head of the needle assembly 143 can... Figure 2 The image shown is pointed, but it can also be like... Figure 9 The diagram shows a planar shape, but this application does not limit this. In this way, the suturing device 100 of this application can be adapted to both pointed needle assemblies 143 and planar needle assemblies 143, thereby improving the versatility of the suturing device 100.

[0064] It is easy to understand that if the needle 1431 is pointed, the needle 1431 of the needle assembly 143 can also be used as a puncture head to puncture human tissue A. When the needle 1431 is used as a puncture head, the suturing process of the suture device 100 is different from that when the needle seat 142 is used as a puncture head. The suturing process of the suture device 100 when the needle 1431 of the needle assembly 143 is used as a puncture head is described below.

[0065] First, such as Figure 3 and Figure 4 As shown, the tissue acquisition structure 120 grasps the human tissue A to be sutured at its distal end. Then, as... Figure 5 and Figure 6As shown, the rotary drive structure 130 rotates at a certain angle, thereby driving the needle holder 142 to rotate, which in turn drives the needle assembly 143 to rotate, its rotation path passing through human tissue A. The suture 141 is connected to the needle assembly 143. It is easy to understand that the other end of the suture 141 can extend towards the proximal end, which refers to the end of the first base 110 away from the needle structure 140. Thus, when the needle assembly 143 passes through human tissue A, the suture 141 also passes through human tissue A. Next, the needle assembly 143 continues to move into the needle receiving hole 112, at which point the limiting structure 150 is configured to fix the needle assembly 143, thus fixing the needle assembly 143 in the needle receiving hole 112. Finally, as... Figure 7 and Figure 8 As shown, the rotary drive structure 130 drives the needle holder 142 to rotate in the opposite direction, returning it to its initial first position, and the tissue acquisition structure 120 releases the human tissue A. Since the needle assembly 143 is fixed in the needle receiving hole 112, the needle holder 142 will separate from the needle assembly 143. In this way, the two ends of the suture are located on both sides of the human tissue A, thus completing one suturing process.

[0066] Furthermore, the continuous suturing process of the suturing device 100 is as follows: After a single suturing, the rotary drive structure 130 drives the needle holder 142 to rotate to the second position, at which point the needle holder 142 will insert into the needle assembly 143. Next, the rotary drive structure 130 drives the needle holder 142 to rotate to the first position, at which point the limiting structure 150 is configured to release the needle assembly 143, and the needle assembly 143 will follow the needle holder 142 out of the needle receiving hole 112 and return to its initial position. Finally, according to... Figures 3 to 8 By repeating the suturing steps, continuous suturing of human tissue A can be achieved.

[0067] In this embodiment, the suturing device 100 uses the needle tip 1431 of the needle assembly 143 as the puncture head, thus realizing both single-stage and continuous suturing processes. The suturing device 100 in this embodiment leaves less material inside the body, thereby improving suturing safety. Furthermore, this embodiment can complete both single-stage and continuous suturing of tissues by operating the rotation drive structure 130 and the limiting structure 150 respectively, which also improves the ease of operation and efficiency of suturing, thereby enhancing the surgical experience for personnel.

[0068] It is easy to understand that when the needle tip 1431 of the needle assembly 143 is planar and the end of the needle holder 142 is pointed, the needle holder 142 is selected as the puncture head to complete the suturing process. When the needle tip 1431 of the needle assembly 143 is pointed and the end of the needle holder 142 is also pointed, one of the two can be selected as the puncture head to carry out the suturing process, or both can be selected as puncture heads to carry out the suturing process.

[0069] When both needle tip 1431 and needle holder 142 are selected as puncture heads for the suturing process, it is beneficial to further improve suturing efficiency. Specifically, firstly, tissue acquisition structure 120 grasps the human tissue A to be sutured at the distal end, and needle assembly 143 is fixed in needle receiving hole 112 by limiting structure 150. Then, rotation drive structure 130 drives needle holder 142 to rotate to a second position, its rotation path passing through human tissue A. Suture 141 is connected to needle assembly 143. After needle holder 142 passes through human tissue A, it is inserted into needle assembly 143 fixed in needle receiving hole 112. At this time, limiting structure 150 is configured to release needle assembly 143. Then, rotation drive structure 130 drives needle holder 142 to rotate in the opposite direction to return it to the initial first position, and tissue acquisition structure 120 releases human tissue A. Since the needle assembly 143 is inserted into the needle holder 142 and the needle assembly 143 is released, the needle holder 142 rotates in the opposite direction with the needle assembly 143. Then, the suture 141 passes through the human tissue A for the first time as it rotates in the opposite direction with the needle assembly 143. Next, the tissue acquisition structure 120 grasps the human tissue A again. The rotation drive structure 130 drives the needle holder 142 to rotate to a second position, at which point the needle holder 142 rotates synchronously with the needle assembly 143. Since the needle tip 1431 of the needle assembly 143 is also pointed, it passes through the human tissue A again during rotation, thus causing the suture 141 to pass through the human tissue A a second time. The tissue acquisition structure 120 re-grabs the human tissue A at a different location, so that the puncture point of the needle tip 1431 is not the same as the puncture point of the needle holder 142, thus the suture 141 passes through the human tissue A twice. This completes one suturing process. As can be seen from the above process, in one suturing process, the suture 141 can pass through the human tissue A twice, which is conducive to further improving the single suturing efficiency and continuous suturing efficiency of the suturing device 100.

[0070] In some embodiments, such as Figure 2 and Figure 4 As shown, the needle assembly 143 includes a needle tip 1431 and a needle tube 1432. The suture 141 is connected to the needle tube 1432. One end of the needle tube 1432 is detachably inserted into the needle holder 142, and the other end is connected to the needle tip 1431. The needle tip 1431 is pointed.

[0071] This embodiment illustrates the specific structure of the needle assembly 143. The needle assembly 143 includes a needle tip 1431 and a needle tube 1432. The needle tip 1431 is pointed. Thus, the needle tip 1431 can act as a puncture head to puncture human tissue A, thereby simultaneously driving the suture 141 through human tissue A to complete the above-mentioned suturing process.

[0072] The aforementioned suturing device 100 uses a needle 1431 to puncture human tissue A, thereby completing the suturing process. It is easily understood that the needle holder 142 can also be used as a puncture head to puncture human tissue A. That is, as... Figure 2 As shown, the end of the needle hub 142 that connects to the needle tube 1432 is pointed, thus the needle hub 142 itself can serve as a puncture head. When the needle hub 142 serves as a puncture head, the suturing process of the suturing device 100 is different from when the needle 1431 serves as a puncture head. The suturing process of the suturing device 100 when the needle hub 142 serves as a puncture head is described below.

[0073] Furthermore, such as Figure 2 , Figure 10 and Figure 11 As shown, the needle tip 1431 is provided with a circumferential groove 1433, and the limiting structure 150 includes a positioning block 151 and a second steel wire 152 connected to the positioning block 151. The positioning block 151 is configured to move along the first channel 111 under the drive of the second steel wire 152. The positioning block 151 is provided with a limiting protrusion 1511 that matches the circumferential groove 1432.

[0074] This embodiment illustrates the specific structure of the limiting structure 150 for fixing or releasing the needle assembly 143. The needle tip 1431 of the needle assembly 143 has a circumferential groove 1433. The limiting structure 150 includes a positioning block 151 and a second steel wire 152. When the second steel wire 152 is pulled, the positioning block 151 can move linearly along the first channel 111. Since the needle receiving through hole 112 is connected to the distal end of the first channel 111, when the positioning block 151 moves to the distal end of the first channel 111, the limiting protrusion 1511 of the positioning block 151 will engage in the circumferential groove 1433 of the needle tip 1431, thus fixing the needle assembly 143. When the positioning block 151 moves to a position far from the first channel 111, the limiting protrusion 1511 of the positioning block 151 disengages from the circumferential groove 1433 of the needle tip 1431, thus releasing the needle assembly 143. It is easy to understand that the cross-sectional shape of the first channel 111 can be the same as the shape of the positioning block 151, so that it can also guide the positioning block.

[0075] Furthermore, the limiting protrusion 1511 can be a straight protrusion or a circular arc protrusion. For example... Figure 2 As shown, the limiting protrusion 1511 is a straight protrusion, meaning that the extension direction of the protrusion is a straight line. This type of limiting protrusion 1511 is simple to manufacture, which improves process convenience. For example... Figure 10 and Figure 11 As shown, the limiting protrusion 1511 is an arc protrusion. An arc protrusion means that the extension direction of the protrusion is an arc. Compared with a straight protrusion, the arc protrusion has better compatibility with the circumferential groove 1432, which helps to further improve the fixing reliability of the positioning block 151 to the pin assembly 143.

[0076] In some embodiments, such as Figure 2 , Figure 12 and Figure 13 As shown, the rotary drive structure 130 includes a linear motion member 131, a screw 132, a needle holder mounting portion 133, and a first steel wire 134 connected to the linear motion member 131. A first base 110 is provided with a second channel 113 and a third channel 114 extending along its length, and the second channel 113 and the third channel 114 communicate with each other. The linear motion member 131 is disposed in the second channel 113, and the screw 132 extends out of the distal end of the first base 110 through the third channel 114 and is connected to one end of the needle holder mounting portion 133. The other end of the needle holder mounting portion 133 is connected to a needle holder 142. The linear motion member 131 and the screw 132 are slidably connected, and the screw 132 is configured to rotate when the linear motion member 131 moves along the second channel 113.

[0077] This application describes the specific structure of the rotary drive structure 130. It includes a linear motion component 131, a screw 132, a needle holder mounting portion 133, and a first steel wire 134. The screw 132 extends from the distal end of the first base 110 through a third channel 114 and is connected to one end of the needle holder mounting portion 133. That is, the needle holder mounting portion 133 is the transition component between the screw 132 and the needle holder 142. Its function is twofold: firstly, to improve the installation stability of the screw 132 and the needle holder 142; secondly, by flexibly setting the position of the needle holder 142 mounted on the needle holder mounting portion 133, the rotation path of the needle holder 142 can be adjusted, ensuring that its rotation path accurately passes through the human tissue A, thereby also improving the suturing accuracy of the suturing device 100. The linear motion component 131 is slidably connected to the screw 132, and the linear motion component 131 is also connected to the first steel wire 134. In this way, the linear motion of the linear motion component 131 can be controlled by pulling the first steel wire 134, and the screw 132 can be rotated to realize the puncture action of the needle structure 140.

[0078] Furthermore, in some embodiments, such as Figure 2 and Figure 13 As shown, the linear motion component 131 is a slider 135. The screw 132 has a first helical groove 1321, and the slider 135 has a first protrusion 1351 that matches the first helical groove 1321. In this way, the linear motion of the slider 135 can be converted into the rotational motion of the screw 132, thereby driving the needle holder 142 to rotate.

[0079] Alternatively, the screw 132 may have a first helical protrusion (not shown in the figure), and the slider 135 may have a first groove (not shown in the figure) that matches the first helical protrusion. In this way, the linear motion of the slider 135 can be converted into the rotational motion of the screw 132, thereby driving the needle holder 142 to rotate.

[0080] In some embodiments, such as Figure 14 As shown, the linear motion component 131 is a nut 136. The screw 132 has an external thread 1322, and the nut 136 has an internal thread 1361 that matches the external thread 1322. Because the rotation angle of the needle structure 140 is a non-circular angle, the pitch of the external thread 1322 of the screw 132 is relatively large. When the nut 136 is pulled by the first steel wire 134, the internal thread 1361 of the nut 136 will drive the screw 132 to rotate, which in turn drives the needle holder 142 to rotate.

[0081] Or, such as Figure 15 As shown, the screw 132 is provided with a second spiral groove 1323, and the nut 136 is provided with a second protrusion 1362 that matches the second spiral groove 1323. When the nut 136 is pulled by the first steel wire 134, the second protrusion 1362 of the nut 136 will drive the screw 132 to rotate, which in turn drives the needle holder 142 to rotate.

[0082] Alternatively, the screw 132 may have a second helical protrusion (not shown in the figure), and the nut 136 may have a second groove (not shown in the figure) that matches the second helical protrusion. When the nut 136 is pulled by the first steel wire 134, the second groove of the nut 136 will drive the screw 132 to rotate, which in turn will drive the needle holder 142 to rotate.

[0083] Furthermore, in some embodiments, such as Figure 2 As shown, a wire sleeve 137 is also provided on the outside of the first wire 134, thereby improving the protection of the first wire 134.

[0084] Furthermore, in some embodiments, such as Figure 2 and Figure 13 As shown, a wire mounting base 138 is also provided at the proximal end of the second channel 113. After the first wire 134 passes through the wire mounting base 138, it is connected to the linear motion component 131 in the second channel 113, such as the aforementioned slider 135 or nut 136. This helps to prevent the linear motion component 131 from slipping out of the second channel 113, thus improving the reliability of the suturing device 100. The proximal end refers to the end of the third channel 114 away from the needle holder 142.

[0085] Furthermore, in some embodiments, such as Figure 2 and Figure 13As shown, a screw mounting base 139 is provided at the proximal end of the third channel 114. One end of the screw 132 is fixed by the screw mounting base 139, and the other end extends beyond the distal end of the first base 110 and is connected to one end of the needle holder mounting portion 133. This improves the rotational stability of the screw 132, reduces the probability of wobbling during rotation, and thus improves the suturing accuracy of the suturing device 100. The screw mounting base 139 can be, for example, a rolling bearing. The proximal end refers to the end of the third channel 114 furthest from the needle holder 142.

[0086] In some embodiments, such as Figure 16 As shown and referenced Figure 2 The rotary drive structure 130 includes a needle holder mounting portion 133, a hollow screw 200, and a straight rod 210 sleeved inside the hollow screw 200. A first base 110 has a fourth channel (not shown) extending along its length. The hollow screw 200 extends beyond the distal end of the first base 110 through the fourth channel and connects to one end of the needle holder mounting portion 133. The other end of the needle holder mounting portion 133 is connected to a needle holder 142. A helical slit 201 is provided on the surface of the hollow screw 200, and a third protrusion 211 for engaging with the helical slit 201 is provided at the end of the straight rod 210.

[0087] This embodiment proposes another rotary drive structure 130. Specifically, the rotary drive structure 130 includes a needle holder mounting part 133, a hollow screw 200, and a straight rod 210. Since the straight rod 210 is sleeved inside the hollow screw 200, only a fourth channel for accommodating the hollow screw 200 needs to be provided in the first base 110. When the straight rod 210 is pulled linearly, the third protrusion 211 of the straight rod 210 will drive the hollow screw 200 to rotate, thereby driving the needle holder 142 to rotate. The rotary drive structure 130 of this embodiment has a simple structure, which improves operational convenience.

[0088] In some embodiments, such as Figure 2 and Figure 4 As shown, the tissue acquisition structure 120 includes a second base 121 disposed below the first base 110, a gripping head sleeve 122, and a gripping head 123 sleeved within the gripping head sleeve 122. The second base 121 is provided with a fifth channel 1211 extending along the length of the first base 110, the gripping head sleeve 122 is disposed in the fifth channel 1211, and the end of the gripping head 123 near the distal end of the fifth channel 1211 is spiral-shaped.

[0089] This embodiment illustrates the specific structure of the tissue acquisition structure 120. The second base 121 is located below the first base 110 and can be fixedly connected to the first base 110 or consist of two independent parts. This application does not impose any limitations on this. A gripper head sleeve 122 is disposed in the fifth channel 1211 to protect the gripper head 123. The end of the gripper head 123 near the distal end of the fifth channel 1211 is spiral-shaped. The gripping process is as follows: the gripper head 123 is moved along the fifth channel 1211 so that the spiral end of the gripper head 123 penetrates the distal human tissue A to be sutured. Then, the gripper head 123 is moved in the opposite direction, at which point the spiral end of the gripper head 123 carries the human tissue A toward the distal end of the fifth channel 1211 until the human tissue A reaches the position to be sutured. Here, the distal end refers to the end near the suture needle structure 140, and the position to be sutured refers to the position located on the rotation path of the suture needle seat 142 and the needle assembly 143. The release process is as follows: rotating the gripping head 123 in the opposite direction to the spiral shape releases the human tissue A. Thus, the gripping and release of human tissue A can be achieved through the tissue acquisition structure 120. At this time, due to the presence of the fifth channel 1211, one end of the suture 141 is connected to the needle tube 1432 of the needle assembly 143, and the other end can extend proximally through the distal end of the fifth channel 1211. This improves the ease of suture placement.

[0090] In some embodiments, such as Figure 17 As shown and referenced Figure 13 The drive structure 130 also includes a fixed shaft 115 disposed in the second channel 113. The first steel wire 134 includes a first side 1341 and a second side 1342 wound around the fixed shaft 115. The second side 1342 is closer to the screw 132 than the first side 1341. The linear motion member 131 is fixedly connected to the second side 1342. In this embodiment, the first steel wire 134 is wound around the fixed shaft 115, thereby forming a structure similar to a fixed pulley. The first steel wire 134 is divided into a first side 1341 and a second side 1342 with the fixed shaft 115 as the boundary. The linear motion member 131 is fixedly connected to the second side 1342. In this way, by pulling the first side 1341 and the second side 1342 respectively, the linear motion member 131 can be controlled to move towards or away from the distal end, thereby realizing the rotational movement of the rotary drive structure 130.

[0091] In some embodiments, the plane containing the rotation direction of the needle holder 142 is perpendicular to the length direction of the base 110. The length direction of the base 110 is the extension direction of the first channel 111. Setting the plane containing the rotation direction of the needle holder 142 perpendicular to the length direction of the base 110 helps to reduce the length of the suturing device 100, making its structure more compact. Furthermore, if used with an endoscope, the entire suturing process of the suturing device 100 is within the endoscopic field of view, thereby improving the convenience and success rate of the surgery.

[0092] An embodiment of the second aspect of this application provides a suturing system 1, including an endoscope 300 and the suturing device 100 described in the first aspect. The endoscope 300 is fixedly connected to a first base 110.

[0093] The suturing system 1 of this application, using the suturing device 100 described in the first aspect, can complete both single suturing and multiple consecutive suturing processes with the assistance of an endoscope 300. This improves the ease of operation and efficiency of suturing, thereby enhancing the surgical experience. Furthermore, compared to sutures using staples, it also improves the safety of the suturing process. It is easily understood that the position of the endoscope 300 can be flexibly set, for example... Figure 1 As shown, the endoscope 300 is positioned on the oblique bottom side of the suturing device 100 so that the observation end of the endoscope 300 can clearly see the suturing process, thereby improving the convenience and success rate of suturing.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A suturing device, characterized in that, include: A first base, wherein the first base is provided with a first channel extending through it along its length, and the bottom of the first base is provided with a pin-connecting through hole communicating with the distal end of the first channel; A tissue acquisition structure located below the first base, the tissue acquisition structure being configured to grasp or release human tissue to be sutured; A rotary drive structure is disposed in the first base, and the output end of the rotary drive structure extends out of the far end of the first base; A suture needle structure includes a suture thread, a suture needle holder, and a needle assembly that is detachably inserted into one end of the suture needle holder. The other end of the suture needle holder is connected to the output end of the rotary drive structure. The end of the suture needle holder that is inserted into the needle assembly is pointed. The suture thread is connected to the needle assembly. The suture needle structure is configured such that, under the drive of the rotary drive structure, the needle assembly is inserted into or moved away from the needle receiving through hole. as well as A limiting structure is disposed in the first channel, and the limiting structure is configured to fix or release the needle assembly; The rotary drive structure includes a linear motion component, a screw, a needle holder mounting portion, and a first steel wire connected to the linear motion component. The first base is provided with a second channel and a third channel extending along its length, and the second channel communicates with the third channel. The linear motion component is disposed in the second channel. The screw extends out of the far end of the first base through the third channel and is connected to one end of the needle holder mounting portion. The other end of the needle holder mounting portion is connected to the needle holder. The linear motion component is slidably connected to the screw. The screw is configured to rotate when the linear motion component moves along the second channel.

2. The suturing device according to claim 1, characterized in that, The plane containing the rotation direction of the needle holder is perpendicular to the length direction of the base.

3. The suturing device according to claim 1, characterized in that, The rotary drive structure further includes a fixed shaft disposed in the second channel. The first steel wire includes a first side and a second side wound around the fixed shaft. The second side is closer to the screw than the first side. The linear motion member is fixedly connected to the second side.

4. The suturing device according to claim 1, characterized in that, The linear motion component is a slider; The screw is provided with a first helical groove, and the slider is provided with a first protrusion that matches the first helical groove. Alternatively, the screw may be provided with a first helical protrusion, and the slider may be provided with a first groove that matches the first helical protrusion.

5. The suturing device according to claim 1, characterized in that, The linear motion component is a nut; The screw is provided with an external thread, and the nut is provided with an internal thread that is compatible with the external thread; Alternatively, the screw may be provided with a second helical groove, and the nut may be provided with a second protrusion that matches the second helical groove; Alternatively, the screw may be provided with a second helical protrusion, and the nut may be provided with a second groove that matches the second helical protrusion.

6. The suturing device according to claim 1, characterized in that, The needle assembly includes a needle tip and a needle tube. The suture is connected to the needle tube. One end of the needle tube is detachably inserted into the needle holder, and the other end is connected to the needle tip. The needle tip is pointed or flat.

7. The suturing device according to claim 6, characterized in that, The needle tip is provided with a circumferential groove; The limiting structure includes a positioning block and a second steel wire connected to the positioning block. The positioning block is configured to move along the first channel under the drive of the second steel wire. The positioning block is provided with a limiting protrusion that matches the circumferential groove.

8. The suturing device according to claim 7, characterized in that, The limiting protrusion can be a straight protrusion or a circular arc protrusion.

9. A suturing device, characterized in that, include: A first base, wherein the first base is provided with a first channel extending through it along its length, and the bottom of the first base is provided with a pin-connecting through hole communicating with the distal end of the first channel; A tissue acquisition structure located below the first base, the tissue acquisition structure being configured to grasp or release human tissue to be sutured; A rotary drive structure is disposed in the first base, and the output end of the rotary drive structure extends out of the far end of the first base; A suture needle structure includes a suture thread, a suture needle holder, and a needle assembly that is detachably inserted into one end of the suture needle holder. The other end of the suture needle holder is connected to the output end of the rotary drive structure. The end of the suture needle holder that is inserted into the needle assembly is pointed. The suture thread is connected to the needle assembly. The suture needle structure is configured such that, under the drive of the rotary drive structure, the needle assembly is inserted into or moved away from the needle receiving through hole. as well as A limiting structure is disposed in the first channel, and the limiting structure is configured to fix or release the needle assembly; The rotary drive structure includes a needle holder mounting part, a hollow screw, and a straight rod sleeved inside the hollow screw. The first base is provided with a fourth channel extending through its length. The hollow screw extends out of the far end of the first base through the fourth channel and is connected to one end of the needle holder mounting part. The other end of the needle holder mounting part is connected to the needle holder. The surface of the hollow screw is provided with a spiral slit, and the end of the straight rod is provided with a third protrusion for engaging with the spiral slit.

10. A suturing system comprising an endoscope and a suturing device as claimed in any one of claims 1-9, wherein the endoscope is fixedly connected to the first base.

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