Electric suture machine

Abstract

The present invention discloses an electric suturing device, including a driving device, a transmission device, a bending device and an actuator, wherein the distal end of the driving device is connected to the proximal end of the transmission device, the distal end of the transmission device is connected to the proximal end of the bending device, the distal end of the bending device is connected to the actuator, the transmission device includes a driving shaft, a bending propulsion device, and a bending control shaft; the driving device includes a reduction motor, the reduction motor rotates forward and reversely to drive the driving shaft to rotate forward and reversely, the driving shaft rotates to drive the bending propulsion device to perform linear reciprocating motion, and the bending propulsion device drives the actuator to bend left and right through the bending device. The electric suturing device of the present invention is easy to operate and has a large bending angle, and has better technical effects.

Description

Technical Field

[0001] The invention relates to the field of medical instruments, and in particular to an electric suturing device. Background Art

[0002] Laparoscopic surgery is a newly developed minimally invasive method and an inevitable trend in the development of future surgical methods. However, due to the limitation of space in the abdominal or thoracic cavity, minimally invasive surgical instruments must be relatively small and long to achieve precise operation.

[0003] The most difficult operation in minimally invasive abdominal surgery is undoubtedly suturing. It is necessary to coordinate the operation of the suture needle and the needle holder with both hands to sew continuously in a limited space. Many surgeons find this operation extremely difficult. The exposure of the suture needle can also easily lead to accidents, puncturing other organs of the patient or injuring surgeons and nurses.

[0004] When a traditional stapler is used for surgery, the front actuator is controlled by manipulating the steering knob control structure on the stapler to rotate left or right, usually forming a maximum bend of 45° to the left and right. This process requires two-handed operation, one hand holding the instrument and the other hand rotating the steering knob. At the same time, after adjusting to the desired angle, another mechanism needs to be operated to lock this position. The whole process is extremely inconvenient and time-consuming. Due to the differences in the surgical sites of patients, the bending angle cannot fully meet the operation of the surgical site. Therefore, the stapler needs to be easy to operate and have a larger bending angle of the working part to meet complex clinical needs. Summary of the invention

[0005] The present invention aims to solve the technical problems of the prior art stapler that the operation is complicated and the bending angle is insufficient.

[0006] In order to solve the above technical problems, the technical solutions provided by the present invention are as follows:

[0007] An electric suturing device comprises a driving device, a transmission device, a bending device and an actuator, wherein the distal end of the driving device is connected to the proximal end of the transmission device, the distal end of the transmission device is connected to the proximal end of the bending device, and the distal end of the bending device is connected to the actuator; wherein the transmission device comprises a driving shaft, a bending propulsion device, and a bending control shaft; the driving device comprises a reduction motor, the reduction motor rotates forward and reversely to drive the driving shaft to rotate forward and reversely, the rotation of the driving shaft drives the bending propulsion device to perform linear reciprocating motion, and the bending propulsion device drives the actuator to bend left and right through the bending device.

[0008] Furthermore, the reduction motor includes an output shaft, the output shaft is connected with the driving shaft, the driving shaft includes a threaded rod, the threaded rod is connected with the driving threaded hole provided in the bending and turning propulsion device, wherein the thread of the threaded rod is a self-locking thread.

[0009] Furthermore, the bending control shaft is arranged in the outer tube, one end of the bending control shaft is connected to the bending propulsion device, and the other end is connected to the bending device; the bending device is hinged to the outer tube to form a first vertical rotation axis, and is hinged to the actuator to form a second vertical rotation axis.

[0010] Furthermore, the bending device specifically includes: a U-shaped bending pull tab, a bending support shaft, a bending joint, and a bending piece connecting ring; the bending control shaft is fixedly connected to the U-shaped bending pull tab; both ends of the U-shaped bending pull tab pass through the bending joint and are connected to the bending piece connecting ring, and the bending piece connecting ring is fixedly connected to the actuator; the linear reciprocating motion of the bending propulsion device drives the bending control shaft and the bending pull tab to reciprocate together, thereby driving the actuator to rotate around the first vertical rotation axis and the second vertical rotation axis.

[0011] Furthermore, the bending propulsion device includes: a first bending propulsion block, a second bending propulsion block, and a pin shaft; the first bending propulsion block and the second bending propulsion block are fixed into an integral structure by the pin shaft; when the pin shaft is removed, the first bending propulsion block and the second bending propulsion block can be separated. When the motor fails and cannot drive the actuator back to the initial position and cannot be safely withdrawn from the patient's body, the pin shaft can be removed to separate the first bending propulsion block and the second bending propulsion block, so that the second bending propulsion block releases the position locking state, and the actuator resumes the free state, and can be safely withdrawn from the patient's body.

[0012] Furthermore, the electric suturing device includes a position detection module, and the position detection module has a plurality of micro switches for controlling the position of the second bending and pushing block so as to control the rotation angle of the execution structure.

[0013] Furthermore, the micro switches include: a left limit micro switch, a zero position micro switch, and a right limit micro switch, which respectively correspond to the left bending limit position, the 0 degree position, and the right bending limit position of the actuator.

[0014] Furthermore, it includes a turning button, by toggling the turning button forward or reverse, the reduction motor is controlled to rotate forward or reverse, thereby controlling the actuator to turn left or right.

[0015] Furthermore, the electric suture device also includes a power supply voltage detection module and / or a current detection module, and the power supply voltage detection module includes: a voltage detection IC and an alarm; after the power supply supplies power to the electric suture device, the voltage detection IC detects the power supply voltage of the motor driver IC in real time. If the voltage meets the expected value, the turning button is turned to drive the reduction motor to rotate. If the voltage does not meet the expected value, the alarm is activated to alarm, and the main microcontroller automatically suspends subsequent driving operations; the current detection module includes a current detection IC, and the current detection IC detects the driving current of the reduction motor during the turning process. When the driving current exceeds the threshold, the reduction motor stops rotating. The setting of the power supply voltage detection module avoids transmission failure caused by insufficient voltage resulting in insufficient torque output of the reduction motor, thereby ensuring complete surgical operation. The current detection module can protect the safe operation of the electric suture device.

[0016] Furthermore, when the electric suturing device is powered on, an initialization operation is performed, specifically: the reduction motor rotates forward until the second bending push block triggers the left limit micro switch, and then automatically stops forward rotation. At this time, the actuator is at the left bending limit; the reduction motor rotates reversely until the middle position boss provided on the second bending push block triggers the zero position micro switch, and then automatically stops reverse rotation after a delay. At this time, the actuator is at the 0 degree position, that is, the initial position.

[0017] After adopting such a design, the present invention has at least the following advantages:

[0018] (1) The electric suture device of the present invention has a large bending angle, and the left and right bending angles can both reach 90 degrees. It can also rotate infinitely, and can stop and lock the current position at will during the bending process.

[0019] (2) The electric stapler of the present invention is easy to operate and can be operated with one hand, thus reducing the time spent on adjusting the instrument and saving surgical time.

[0020] (3) The present invention provides a safety pin, which can unlock the bent state of the front end after a failure occurs, allowing the device to be safely withdrawn from the patient's body, thereby ensuring the safety of the operation.

[0021] (4) The present invention has a simple structure, good effect, low cost and easy process implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] Figure 1 is a schematic diagram of the exploded components of the electric stapler of the present invention;

[0024] Figure 2 It is an exploded schematic diagram of the driving device and transmission device of the electric suture device of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the bending piece connecting ring of the present invention;

[0026] Figure 4 It is a structural schematic diagram of the bending and swivel joint of the present invention;

[0027] Figure 5 It is a schematic cross-sectional view of the assembly of the bending joint of the present invention;

[0028] Figure 6 Schematic diagram of the left-bending of the electric suture device of the present invention;

[0029] Figure 7 is a schematic diagram of the right turning of the electric suturing device of the present invention;

[0030] Figure 8 It is a schematic diagram of position detection of the electric suturing device of the present invention;

[0031] Fig. 9 The electric control logic diagram of the bending and turning of the electric suture device of the present invention;

[0032] Reference numerals,

[0033] 1000 skeleton, 1001 boss, 1002 cavity, 2000 driving device, 2100 reduction motor, 2101 output shaft, 2102a fixing hole A, 2102b fixing hole B, 2200 motor bracket, 2201 secondary support hole, 2202a bracket fixing hole A, 2202b bracket fixing hole B, 2203 main support hole, 2300 driving shaft, 2301 threaded rod, 2302 secondary support shaft, 2303 driving hole, 24 00 first bend push block, 2401 drive threaded hole, 2402 first bend push block round hole, 2500 second bend push block, 2501 T-slot, 2502 second bend push block round hole, 2503 middle boss, 2600 pin, 2601 pull ring hole, 2700 pull ring, 2901 zero position micro switch, 2902 left limit micro switch, 2903 right limit micro switch, 3000 outer tube, 3001 fixed waist hole, 300 2a outer tube upper fixing hole, 3002b outer tube lower fixing hole, 4000 bending control shaft, 4001 T-type shaft head, 4002 waist-shaped boss, 5000 U-shaped bending pull tab, 5001 waist-shaped hole, 5002a right connecting hole, 5002b left connecting hole, 6000 bending support shaft, 6001 semicircular groove, 7000 bending joint, 7001a joint upper connecting hole, 7001b joint lower connecting hole, 7002a right rectangular hole, 70 02b left rectangular hole, 8000 joint connecting pin, 9000 bending piece connecting ring, 9001a right connecting pin, 9001b left connecting pin, 10000 actuator, 10001a upper connecting hole, 10001b lower connecting hole, 11001 power supply, 11002 main microcontroller, 11003 voltage detection IC, 11004 alarm, 11005 motor drive IC, 11006 current detection IC, 11007 bending button DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0035] In this document, “upper”, “lower”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0036] In the following, the end of each component close to the operator is defined as the proximal end, and the end away from the operator is defined as the distal end. The expressions of the proximal end and the distal end are only used to make the description simple and clear, and should not be understood as any limitation to the present invention.

[0037] An electric suturing device includes a driving device, a transmission device, a bending device and an actuator, wherein the distal end of the driving device is connected to the proximal end of the transmission device, the distal end of the transmission device is connected to the proximal end of the bending device, and the distal end of the bending device is connected to the actuator; wherein the transmission device includes a driving shaft 2300, a bending propulsion device, and a bending control shaft 4000; the driving device includes a reduction motor 2100, the reduction motor 2100 rotates forward and reversely to drive the driving shaft to rotate forward and reversely, the rotation of the driving shaft drives the bending propulsion device to perform linear reciprocating motion, and the bending propulsion device drives the actuator to bend left and right through the bending device. Specifically, the reduction motor 2100 includes an output shaft 2101, the output shaft 2101 is connected in cooperation with the driving shaft 2300, the driving shaft 2300 includes a threaded rod 2301, and the threaded rod 2301 is connected in cooperation with a driving threaded hole 2401 provided in the bending propulsion device. Among them, the thread of the threaded rod 2301 is a self-locking thread, and the thread lead angle is smaller than the equivalent friction angle of the helical pair, so that when the reduction motor 2100 stops at any position, the angle of the actuator can be kept self-locking, and the stepless rotation operation of the actuator structure 1000 can be realized.

[0038] The electric suture device further comprises a bracket 2200, and the reduction motor 2100 is fixedly connected to the bracket 2200. Specifically, the reduction motor 2100 is provided with a fixing hole A 2102a and a fixing hole B 2102b, and is fixedly connected to the bracket fixing hole A 2202a and the bracket fixing hole B 2202b provided on the bracket 2200 by fixing screws. The bracket 2200 is provided with a main support hole 2203, and the output shaft 2101 of the reduction motor 2100 passes through the main support hole 2203 and is matched and connected with the driving hole 2303 provided on the driving shaft 2300; the bracket 2200 is provided with a secondary support shaft hole 2201, and the driving shaft 2300 is provided with a secondary support shaft 2302, and the secondary support shaft 2302 is installed in the secondary support hole 2201.

[0039] The electric suturing device also includes a frame 1000 and an outer tube 3000; the driving device 2000 is installed in a cavity 1002 provided in the frame 1000; the outer tube 3000 is provided with a fixed waist hole 3001 connected to a boss 1001 provided in the frame 1000; the outer tube 3000 and the driving device 2000 are relatively fixed in position, and the bending control shaft 4000 is arranged in the outer tube 3000.

[0040] One end of the bending control shaft 4000 is connected to the bending propulsion device, and the other end is connected to the bending device. Optionally, the bending control shaft 4000 is provided with a T-shaped shaft head 4001 to be connected and matched with the T-shaped slot 2501 provided on the bending propulsion device. The bending device is hinged with the outer tube 3000 to form a first vertical rotation axis, and is hinged with the actuator 1000 to form a second vertical rotation axis. The bending device specifically includes: a U-shaped bending pull tab 5000, a bending support shaft 6000, a bending joint 7000, and a bending piece connecting ring 9000. The bending control shaft 4000 is provided with a waist-shaped boss 4002, which is fixedly connected with the waist-shaped hole 5001 provided on the bending pull tab 5000. The bending control shaft 4000 is placed in a semicircular groove 6001 provided on the bending support shaft 6000, which is used as a fixed slide rail during the reciprocating motion of the bending control shaft 4000. The two ends of the bending pull tab 5000 pass through the bending joint 7000 and are connected to the bending piece connecting ring 9000. The two sides of the bending joint 7000 are respectively provided with a right rectangular hole 7002a and a left rectangular hole 7002b, and the two ends of the bending pull tab 5000 pass through the right rectangular hole 7002a and the left rectangular hole 7002b. The bending pull tab 5000 is provided with a right connecting hole 5002a and a left connecting hole 5002b, which are respectively inserted into the right connecting pin 9001a and the left connecting pin 9001b provided on the bending piece connecting ring 9000. The bending piece connecting ring 9000 is fixedly connected to the actuator 10000. There are four joint connecting pins 8000, the first joint connecting pin passes through the outer tube upper fixing hole 3002a provided on the outer tube 3000 and the joint upper connecting hole 7001a provided on the bending joint 7000, the second joint connecting pin passes through the outer tube lower fixing hole 3002b provided on the outer tube 3000 and the joint upper connecting hole 7001a, and the rotation axis formed by the first joint connecting pin and the second joint connecting pin is the first vertical rotation axis; the third joint connecting pin passes through the upper connecting hole 10001a provided on the actuator 10000 and the joint lower connecting hole 7001b provided on the bending joint 7000, the fourth joint connecting pin passes through the lower connecting hole 10001b provided on the actuator 10000 and the joint lower connecting hole 7001b, and the rotation axis formed by the third joint connecting pin and the fourth joint connecting pin is the second vertical rotation axis. The reciprocating motion of the bending propulsion device drives the bending control shaft 4000 and the bending pull piece 5000 to reciprocate together, and the actuator 10000 can rotate around the axis of the joint connecting pin 8000. In this way, the purpose of the actuator 10000 bending left and right is achieved.

[0041] The bending propulsion device comprises: a first bending propulsion block 2400, a second bending propulsion block 2500, and a pin 2600; the first bending propulsion block and the second bending propulsion block can be fixed into an integrated structure by the pin 2600. The first bending propulsion block is provided with a protrusion, and the second bending propulsion block is provided with a groove, and the protrusion can slide axially in the groove; when the pin 2600 is inserted into the second bending propulsion block circular hole 2502 provided on the second bending propulsion block 2500 and the first bending propulsion block circular hole 2402 provided on the first bending propulsion block 2400, the first bending propulsion block and the second bending propulsion block are fixed together; when the pin 2600 is pulled out, the first bending propulsion block and the second bending propulsion block are separated. Preferably, it also comprises a pull ring 2700, and the pull ring 2700 passes through the pull ring hole 2601 provided on the 2600 safety pin to form an integrated structure.

[0042] During operation, after the actuator 10000 has been bent, if the motor fails and cannot drive the actuator 10000 back to the initial position and cannot be safely withdrawn from the patient's body, the pull ring 2700 can be pulled to disengage the safety pin 2600 from the circular hole 2402 provided in the first bending push block 2400 and the circular hole 2502 provided in the second bending push block 2500. The first bending push block and the second bending push block can be separated, so that the second bending push block 2500 is released from the position locking state, and the actuator 10000 returns to a free state and can be safely withdrawn from the patient's body.

[0043] The electric suture device also includes a bend button 11007, which controls the forward or reverse rotation of the reduction motor by toggling the bend button forward or backward, thereby controlling the actuator to bend left or right. The electric suture device includes a position detection module, and the position detection module includes multiple micro switches, which are used to control the position of the second bend propulsion block to control the rotation angle of the execution structure 10000. Specifically, the micro switches include a zero position micro switch 2901, a left limit micro switch 2902, and a right limit micro switch 2903. The reduction motor 2100 rotates forward until the second bend propulsion block 2500 triggers the left limit micro switch 2902, and the reduction motor automatically stops rotating forward. At this time, the actuator 10000 is in the left bend limit state. When the reduction motor 2100 rotates reversely until the middle position boss 2503 provided on the second bend propulsion block 2500 triggers the zero position micro switch 2901, the reduction motor automatically delays and stops rotating in the reverse direction. At this time, the actuator 10000 is in the 0 degree position. The reduction motor 2100 rotates in the reverse direction again until the second turning push block 2500 triggers the right limit micro switch 2903, and the reduction motor automatically stops rotating in the reverse direction. At this time, the actuator 10000 is in the right turning limit position. In the left turning limit state and the right turning limit state, the turning angle of the actuator is 90 degrees.

[0044] The electric suture device includes a power supply voltage detection module, which includes: a voltage detection IC and an alarm; after the power supply supplies power to the electric suture device, the voltage detection IC detects the power supply voltage of the motor driver IC in real time. If the voltage meets the expected value, the turning button is turned to drive the reduction motor to rotate. If the voltage does not meet the expected value, the alarm is activated to alarm, and the main microcontroller automatically suspends subsequent driving operations. This can avoid transmission failures caused by insufficient voltage resulting in insufficient torque output of the reduction motor 2100, ensuring complete surgical operations.

[0045] Specifically, when the suture device is connected to power supply 11001, it is converted into 3.3V to power the main microcontroller 11002, and the preset program detects the power supply voltage of the motor driver IC 11005 in real time through the voltage detection IC 11003. When the voltage meets the expected value, the turning button 11007 is turned to rotate the deceleration motor 2100. If the voltage does not meet the expected design value, the alarm 11004 will prompt a warning through the LED / buzzer / display screen, and the main microcontroller 11002 will automatically suspend subsequent driving operations to avoid transmission failure caused by insufficient voltage due to insufficient torque output of the deceleration motor 2100, thereby ensuring complete surgical operation.

[0046] In addition, the electric suture device also includes a current detection IC 11006. During the bending process, the current detection IC 11006 detects the driving current of the reduction motor 2100. When the threshold is exceeded, the reduction motor 2100 stops rotating, thereby protecting the safe operation of the device.

[0047] When the electric suture device is powered on, the initialization operation is performed to ensure that the actuator is at the initial position of 0 degrees; specifically, when the instrument is initially used, the reduction motor 2100 rotates forward until the second bending push block 2500 triggers the left limit micro switch 2902, and the motor automatically stops rotating forward. At this time, the actuator 10000 is at the left bending limit. The reduction motor 2100 rotates reversely until the middle boss 2503 provided on the second bending push block 2500 triggers the zero position micro switch 2901, and the motor automatically stops rotating reversely after a delay. At this time, the actuator 10000 is at the initial position of 0 degrees. In subsequent operations, the reduction motor 2100 rotates forward when the bending button 11007 is toggled forward, and the left limit micro switch 2902 is triggered to stop rotating, and the forward toggling of the bending button 11007 is temporarily ineffective. The reduction motor 2100 rotates reversely when the bending button 11007 is toggled reversely, and the right limit micro switch 2903 is triggered to stop rotating, and the reverse toggling of the bending button 11007 is temporarily ineffective.

[0048] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the invention disclosed in the specification and examples. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in the present invention. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0049] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An electric suture device, comprising a driving device, a transmission device, a bending device and an actuator, wherein the distal end of the driving device is connected to the proximal end of the transmission device, the distal end of the transmission device is connected to the proximal end of the bending device, and the distal end of the bending device is connected to the actuator, characterized in that: The transmission device includes a driving shaft, a bending propulsion device, and a bending control shaft; the driving device includes a reduction motor, the reduction motor rotates forward and reversely to drive the driving shaft to rotate forward and reversely, the rotation of the driving shaft drives the bending propulsion device to perform linear reciprocating motion, and the bending propulsion device drives the actuator to turn left and right through the bending device; The bending propulsion device comprises: a first bending propulsion block, a second bending propulsion block, and a pin shaft; the first bending propulsion block and the second bending propulsion block are fixed to form an integrated structure by the pin shaft; when the pin shaft is removed, the first bending propulsion block and the second bending propulsion block can be separated; it also comprises a pull ring, which passes through the pull ring hole provided on the pin shaft to form an integrated structure; during operation, after the actuator has been bent, if the reduction motor fails and cannot drive the actuator back to the initial position, the pull ring can be pulled to disengage the safety pin shaft from the circular hole provided on the first bending propulsion block and the circular hole provided on the second bending propulsion block, and the first bending propulsion block and the second bending propulsion block can be separated, so that the second bending propulsion block releases the position locking state, and the actuator resumes the free state, and can be safely withdrawn from the patient's body at this time; The electric suture device includes a position detection module, and the position detection module includes a plurality of micro switches for controlling the position of the second bending push block and thus controlling the rotation angle of the execution structure; the micro switches include: a left limit micro switch, a zero position micro switch, and a right limit micro switch, which correspond to the left bending limit position, the 0 degree position, and the right bending limit position of the execution mechanism respectively; When the electric suture device is powered on, the initialization operation is performed, specifically: the reduction motor rotates forward until the second bending push block triggers the left limit micro switch and stops forward rotation. At this time, the actuator is at the left bending limit. The reduction motor rotates reversely until the middle position boss provided on the second bending push block triggers the zero position micro switch and automatically stops reverse rotation after a delay. At this time, the actuator is at the 0 degree position.

2. The electric stapler according to claim 1, characterized in that: The reduction motor includes an output shaft, which is cooperatively connected with the drive shaft. The drive shaft includes a threaded rod, which is cooperatively connected with a driving threaded hole provided in the bending and turning propulsion device; wherein the thread of the threaded rod is a self-locking thread.

3. The electric stapler according to claim 2, characterized in that: The bending control shaft is arranged in the outer tube, one end of the bending control shaft is connected to the bending propulsion device, and the other end is connected to the bending device; the bending device is hinged with the outer tube to form a first vertical rotation axis, and is hinged with the actuator to form a second vertical rotation axis.

4. The electric stapler according to claim 3, characterized in that: The bending device specifically includes: a U-shaped bending pull piece, a bending support shaft, a bending joint, and a bending piece connecting ring; the bending control shaft is fixedly connected to the U-shaped bending pull piece, and the two ends of the U-shaped bending pull piece are respectively connected to the bending piece connecting ring after passing through the bending joint, and the bending piece connecting ring is fixedly connected to the actuator; the linear reciprocating motion of the bending propulsion device drives the bending control shaft and the bending pull piece to reciprocate together, thereby driving the actuator to rotate around the first vertical rotation axis and the second vertical rotation axis.

5. The electric stapler according to any one of claims 1 to 4, characterized in that: It also includes a turning button, which is used to control the forward or reverse rotation of the reduction motor by toggling the turning button forward or reverse, thereby controlling the actuator to turn left or right.

6. The electric stapler according to any one of claims 1 to 4, characterized in that: The electric stitching device further comprises a supply voltage detection module and / or a current detection module; The power supply voltage detection module includes: a voltage detection IC and an alarm; after the power supply supplies power to the electric suture device, the voltage detection IC detects the power supply voltage of the motor drive IC in real time. If the voltage meets the expected value, the bending button is turned to drive the reduction motor to rotate. If the voltage does not meet the expected value, the alarm is activated to alarm, and the main microcontroller automatically suspends subsequent driving operations; the current detection module includes a current detection IC, and the current detection IC detects the driving current of the reduction motor during the bending process. When the driving current exceeds the threshold, the reduction motor stops rotating.

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