Reciprocating drive mechanism for curved needle in laparoscopic stapler

Abstract

The application provides a reciprocating driving mechanism of a curved needle in a laparoscope suture device, which comprises a suture driving wheel, a curved needle transmission connecting rod and a guide connecting rod; the first end of the curved needle transmission connecting rod is hinged to one point of the curved needle, the second end of the curved needle transmission connecting rod is hinged to the suture driving wheel, the first end of the guide connecting rod is hinged to the curved needle transmission connecting rod, the second end of the guide connecting rod is hinged to a curved needle mounting block, the line from the hinge point of the curved needle transmission connecting rod and the suture driving wheel to the rotation center of the suture driving wheel is always parallel to the guide connecting rod, the line from the hinge point of the guide connecting rod and the curved needle mounting block to the rotation center of the suture driving wheel is always parallel to the curved needle transmission connecting rod, the curved needle is driven to move along the curved needle groove in the form of double parallelogram transmission, the translation of the curved needle transmission connecting rod is ensured, the driving force of the curved needle is always kept in the direction of tangent line, that is, the direction of maximum effective force, and the motion condition of the curved needle and the quality of surgical suturing are improved.

Description

Technical Field

[0001] This invention relates to the field of laparoscopic suture device technology, and particularly to a reciprocating drive mechanism for a curved needle in a laparoscopic suture device. Background Technology

[0002] Laparoscopic surgery is a newly developed minimally invasive technique primarily used for intra-abdominal examinations and treatments. During the procedure, when suturing postoperative tissues, the surgeon uses a suture device to continuously pull and release a steel cable, driving the end head to rotate the suture needle, piercing the tissue and suturing it. In laparoscopic surgery, the suture needle typically has an arc-shaped structure; the device's activation causes the needle to rotate, driving the suture to close.

[0003] During laparoscopic surgery, instruments such as suture needles are prone to wear or fatigue damage due to frequent movement and stress. Typically, the suture needle is driven by a single oscillating rod that moves it back and forth along the needle groove, as shown in Chinese invention patent application CN111419310A. However, when the suture needle moves in an arc, the oscillating rod's transmission to the needle is not aligned with the tangential direction of the needle's movement. This can easily cause instability in the needle's movement, potentially affecting the quality of the surgical suture and further reducing the reliability of the suture needle. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the aforementioned background technology by providing a solution for driving the reciprocating motion of a suture needle through a double parallelogram transmission mechanism, thereby making the transmission and suture needle movement more stable and reliable.

[0005] To achieve the above objectives, the present invention provides a reciprocating drive mechanism for a curved needle in a laparoscopic suture device. The suture device includes a curved needle mounting block, the curved needle mounting block is provided with a curved needle groove, a curved needle is movably disposed in the curved needle groove, and the curved needle moves along the curved needle groove in a curved motion. The reciprocating drive mechanism is characterized in that it includes a suture drive wheel, a curved needle transmission connecting rod, and a guide connecting rod.

[0006] The first end of the curved needle drive linkage is hinged to one point of the curved needle, the second end of the curved needle drive linkage is hinged to the sewing drive wheel, the first end of the guide linkage is hinged to the curved needle drive linkage, and the second end of the guide linkage is hinged to the curved needle mounting block. The line connecting the hinge point of the curved needle drive linkage and the sewing drive wheel to the rotation center of the sewing drive wheel is always parallel to the guide linkage, and the line connecting the hinge point of the guide linkage and the curved needle mounting block to the rotation center of the sewing drive wheel is always parallel to the curved needle drive linkage, forming a double parallelogram drive.

[0007] Furthermore, the second end of the curved needle drive linkage is hinged to the non-rotation center position of the sewing drive wheel.

[0008] Furthermore, both the first end of the crank-pin transmission linkage and the rear end of the crank are provided with pin holes, and a pin is provided in the pin holes. The pin is used to hinge the first end of the crank-pin transmission linkage to the rear end of the crank.

[0009] Furthermore, both the curved needle and the curved needle groove are configured as arc shapes, and the phase angle of the curved needle groove is less than 360 degrees.

[0010] Furthermore, the curved needle mounting block is provided with a first opening and a second opening. The first opening is located at the front end of the curved needle groove, and a suture guide is connected to the position of the second opening. The suture guide is connected to the suture thread, and the puncture tip of the curved needle cooperates with the suture guide.

[0011] The above-described solution of the present invention has the following beneficial effects:

[0012] The reciprocating drive mechanism provided by this invention drives the curved needle to move along the curved needle groove in the form of double parallelogram transmission, ensuring the translation of the curved needle transmission link. The driving force on the curved needle is always kept in the tangential direction, that is, the direction of maximum effective force, making the force transmission of the curved needle transmission link more reasonable and effective. It drives the curved needle to reciprocate to achieve suturing and repositioning, which can significantly improve the stability of the curved needle movement and further improve the condition of the curved needle movement and the quality of surgical suturing.

[0013] Other beneficial effects of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is an exploded view of the curved needle module of the present invention;

[0016] Figure 3 This is a schematic diagram of the back of the curved needle module of the present invention;

[0017] Figure 4 This is a schematic diagram of the movement state of the curved needle according to the present invention, wherein (a) is the fully closed state of the curved needle, (b) is the half-open state of the curved needle, and (c) is the fully open state of the curved needle.

[0018] [Explanation of Labels in the Attached Image]

[0019] 1-Curved needle mounting block; 2-Curved needle groove; 3-Curved needle; 4-First opening; 5-Second opening; 6-Thread guide; 7-Sewing drive wheel; 8-Curved needle transmission link; 9-Guide link; 10-Groove; 11-Pin. Detailed Implementation

[0020] To make the technical problems, solutions, and advantages of this invention clearer, a detailed description will be provided below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., 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 the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a locking connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] An embodiment of the present invention provides a reciprocating drive mechanism for a curved needle in a laparoscopic suture device. The suture device includes a control body and a curved needle module. The curved needle module and the control body are connected by a control connecting rod. The control body is connected to the corresponding component on the curved needle module by a control wire to control the component on the curved needle module to drive the curved needle to reciprocate.

[0024] like Figure 1 As shown, the curved needle module includes a curved needle mounting block 1, with a curved needle groove 2 at its end. A curved needle 3 is movably mounted within the curved needle groove 2, and the shape of the curved needle 3 is consistent with that of the curved needle groove 2, allowing it to move along a curved path. In a preferred embodiment, both the curved needle groove 2 and the curved needle 3 are arc-shaped, thus the curved needle 3 reciprocates on a circumference, facilitating control and smoother force transmission.

[0025] It should be noted that in this embodiment, the needle groove 2 is not a complete circle (360 degrees); it is an arc segment located inside the needle mounting block 1. Meanwhile, as... Figure 2 , Figure 3 As shown, the end of the curved needle mounting block 1 is provided with a first opening 4 and a second opening 5. The first opening 4 is located at the front end of the curved needle groove 2. When the curved needle 3 performs a suturing action, the puncture tip of the curved needle 3 exits through the first opening 4, passes through the human tissue, and then enters the second opening 5. At this time, a suture guide 6 is positioned at the second opening 5, and the suture guide 6 is connected to the suture thread. When the curved needle 3 returns to its original position, its puncture tip drives the suture guide 6 back from the puncture site in the human tissue and then back into the first opening 4. The suture guide 6, carrying the suture thread, passes through the puncture site in the human tissue and stops at the first opening 4. The curved needle 3 then performs a second suturing action, but this time without puncturing the human tissue, allowing the suture guide 6 to return to the second opening 5. The above steps are repeated for a second puncture, and the suturing of the human tissue is completed sequentially.

[0026] The curved needle 3 is driven to reciprocate through a reciprocating drive mechanism, which includes a sewing drive wheel 7 rotatably mounted inside the curved needle mounting block 1. The sewing drive wheel 7 drives the curved needle 3 to reciprocate, and the rotation of the sewing drive wheel 7 is controlled by a control wire connected to the control body. A curved needle transmission link 8 is provided between the sewing drive wheel 7 and the curved needle 3. The first end of the curved needle transmission link 8 is hinged to one point of the curved needle 3, and the second end of the curved needle transmission link 8 is hinged to the non-rotation center position of the sewing drive wheel 7. Therefore, when the sewing drive wheel 7 rotates, it can drive the second end of the curved needle transmission link 8 to rotate, thereby causing the first end of the curved needle transmission link 8 to move the curved needle 3 along the curved needle groove 2, completing the sewing or repositioning action.

[0027] Based on the analysis in the background art, since the curved needle 3 needs to move along the arc-shaped curved needle groove 2, in order to further improve the stability of the curved needle 3 driven by the curved needle transmission link 8 and adapt to the precision operation of surgical suturing, a guide link 9 is also provided in this embodiment. The first end of the guide link 9 is hinged to the curved needle transmission link 8, and the second end of the guide link 9 is hinged to the curved needle mounting block 1. At the same time, the line connecting the hinge point of the curved needle transmission link 8 and the suture drive wheel 7 to the rotation center of the suture drive wheel 7 is always parallel to the guide link 9, and the line connecting the hinge point of the guide link 9 and the curved needle mounting block 1 to the rotation center of the suture drive wheel 7 is always parallel to the curved needle transmission link 8, thus forming a double parallelogram transmission form. The first parallelogram is a small parallelogram formed by the guide link 9, the needle drive link 8, the sewing drive wheel 7, and the needle mounting block 1. The rotation center of the sewing drive wheel 7 on the needle mounting block 1 is O1, and the rotation center of the guide link 9 on the needle mounting block 1 is O2. This parallelogram ensures that the needle drive link 8 maintains translation and that the driving force on the needle 3 always remains along the tangential direction (the direction of maximum effective force). The second parallelogram is a large parallelogram formed by the sewing drive wheel 7, the needle drive link 8, the needle 3, and the needle mounting block 1. The needle 3 is confined within the needle groove 2 and can only rotate around the center of the needle groove 2, forming a virtual rotation center O3 of the parallelogram. Among them, the sewing drive wheel 7 is eccentrically connected to the needle transmission link 8 to form a double parallelogram drive crank. By controlling the rotation angle θ of the crank, the needle transmission link 8 is translated, which drives the needle 3 to reciprocate to achieve sewing and resetting. Under the constraint of the needle groove 2 and the driving force is kept tangential, the stability of the needle 3 movement can be significantly improved.

[0028] It should be noted that in this embodiment, the first end of the crank-pin transmission link 8 and the rear end of the crank 3 are provided with pin holes. The two are hinged by the pin 11. The crank-pin transmission link 8 transmits tangential force to the rear end of the crank 3, so that the crank 3 moves along the crank groove 2.

[0029] In this embodiment, the sewing drive wheel 7 also directly drives the crank needle 3 to reciprocate. When the rotation angle of the sewing drive wheel 7 (crank) is θ1, as... Figure 4 As shown in (a), the curved needle 3 is in a fully closed state at this time; when the rotation angle of the sewing drive wheel 7 is θ2, as... Figure 4 As shown in (b), the curved needle 3 is in a semi-open state at this time, which is the instantaneous state of the sewing action; when the rotation angle of the sewing drive wheel 7 is θ3, as... Figure 4 As shown in (c), the curved needle 3 is in a fully open state at this time.

[0030] In this embodiment, the suture drive wheel 7 is rotated at an angle controlled by a control wire, and a suture transmission wheel (not shown in the figure) is also provided. The suture transmission wheel and the suture drive wheel 7 are connected for synchronous rotation. Specifically, the boss on the suture transmission wheel engages with the groove 10 on the suture drive wheel 7. There are two control wires that are circulated and fed in a loop. The first ends of the two control wires are fixedly connected to two positions on the suture transmission wheel (or the control wire is a single closed wire with its first end fixedly wound around the suture transmission wheel). When one control wire is shortened towards the control body and the other control wire is extended by the control body, the suture transmission wheel and the suture drive wheel 7 can be controlled to rotate and adjust their angles. The two control wires are circulated and extended to control the suture transmission wheel and the suture drive wheel 7 to rotate back and forth, driving the curved needle 3 to move back and forth for continuous suture.

[0031] In summary, the reciprocating drive mechanism provided in this embodiment, in the form of double parallelogram transmission, ensures the translational motion of the curved needle transmission link 8, and the driving force on the curved needle 3 always remains along the tangential direction, that is, the direction of maximum effective force, making the force transmission of the curved needle transmission link 8 more reasonable and effective, driving the curved needle 3 to reciprocate to achieve suturing and repositioning, which can significantly improve the stability of the curved needle 3's movement, further improve the condition of the curved needle 3's movement and the quality of surgical suturing.

[0032] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A reciprocating drive mechanism for a curved needle in a laparoscopic suture device, the suture device comprising a curved needle mounting block, the curved needle mounting block being provided with a curved needle groove, a curved needle being movably disposed within the curved needle groove, the curved needle performing a curved motion along the curved needle groove, characterized in that, The reciprocating driving mechanism comprises a suture driving wheel, a curved needle transmission connecting rod and a guide connecting rod. The first end of the curved needle transmission connecting rod is hingedly connected to one of the curved needles, the second end of the curved needle transmission connecting rod is hingedly connected to the suture driving wheel, the first end of the guide connecting rod is hingedly connected to the curved needle transmission connecting rod, and the second end of the guide connecting rod is hingedly connected to the curved needle mounting block; the line connecting the hingedly connected point of the curved needle transmission connecting rod to the rotation center of the suture driving wheel is always parallel to the guide connecting rod, and the line connecting the hingedly connected point of the guide connecting rod to the rotation center of the suture driving wheel is always parallel to the curved needle transmission connecting rod, forming a double parallelogram transmission; the first parallelogram is a small parallelogram formed by the guide connecting rod, the curved needle transmission connecting rod, the suture driving wheel and the curved needle mounting block, the rotation center of the suture driving wheel rotating on the curved needle mounting block is O1, and the rotation center of the guide connecting rod rotating on the curved needle mounting block is O2; the second parallelogram is a large parallelogram formed by the suture driving wheel, the curved needle transmission connecting rod, the curved needle and the curved needle mounting block, the curved needle is limited in the curved needle groove and rotates around the center of the curved needle groove, and the virtual rotation center O3 of the parallelogram is formed.

2. A reciprocating drive mechanism for curved needle of laparoscopic stitching device as claimed in claim 1 wherein, The second end of the curved needle transmission connecting rod is hingedly connected to a non-rotation center position of the suture driving wheel.

3. The reciprocating drive mechanism for curved needle of laparoscopic stitching device according to claim 1, wherein, The first end of the curved needle transmission connecting rod and the rear end of the curved needle are both provided with pin holes, and pins are arranged in the pin holes to hingedly connect the first end of the curved needle transmission connecting rod to the rear end of the curved needle.

4. The reciprocating drive mechanism for curved needle of laparoscopic stitching device according to claim 1, wherein, The curved needle and the curved needle groove are both provided in the shape of a circular arc, and the phase angle of the curved needle groove is less than 360 degrees.

5. The reciprocating drive mechanism for curved needle of laparoscopic stitching device of claim 1, wherein, The curved needle mounting block is provided with a first opening and a second opening, the first opening is located at the front end of the curved needle groove, the second opening is connected with a wire guide head, the wire guide head is connected with a suture, and the puncture tip of the curved needle is matched with the wire guide head. The curved needle transmission connecting rod is hingedly connected to a non-rotation center position of the suture driving wheel.

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