A continuous reciprocating laparoscopic suture device

Abstract

This invention provides a continuous reciprocating laparoscopic suture device, comprising an actuator body, a control body, and a control connecting rod. The actuator body has a curved needle module for mounting a curved needle, and the curved needle module contains a curved needle reciprocating drive mechanism for driving the curved needle's reciprocating motion. A curved needle module support is located at the first end of the control connecting rod for mounting the curved needle module. The second end of the control connecting rod is connected to the control body, and a control wire, including a suture drive wire, is threaded through the control connecting rod. The first end of the suture drive wire is connected to the curved needle reciprocating drive mechanism, and the second end extends into the control body. Compared to the 360-degree circumferential rotation of the curved needle, this invention provides smoother puncture of human tissue. The suture drive rocker arm on the control body facilitates convenient switching between curved needle reciprocating motion during surgical suturing, further improving the efficiency and quality of the suturing surgery.

Description

Technical Field

[0001] This invention relates to the field of laparoscopic suture device technology, and particularly to a continuous reciprocating motion laparoscopic suture device. Background Technology

[0002] Laparoscopic surgery is a newly developed minimally invasive technique primarily used for intra-abdominal examination and treatment. 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. In laparoscopic surgery, the suture needle typically uses an arc-shaped structure. The device's activation causes the needle to rotate, driving the suture. Currently, the suture needle usually rotates 360 degrees. The main drawback of this method is that continuous 360-degree rotation in one direction can easily cause the needle to become stuck in tissue, preventing further suturing. Using a curved needle with reciprocating motion better solves this problem. However, the mechanism driving the curved needle also needs to reciprocate (or counter-clockwise). Because the curved needle requires numerous continuous reciprocating movements during the suturing process, the surgeon needs to control the drive mechanism extensively. Improving this mechanism can reduce the complexity of the suturing procedure and improve efficiency and quality. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the aforementioned background technology by providing a continuous reciprocating laparoscopic suture device that reduces the complexity of suturing procedures and improves suturing efficiency and quality through improvements to the suture device control mechanism.

[0004] To achieve the above objectives, the present invention provides a continuous reciprocating laparoscopic suture device, comprising an actuator body, a control body, and a control connecting rod;

[0005] The actuator body includes a swivel module and a swivel module support. The swivel module is used to install the swivel, and the swivel module is provided with a swivel reciprocating drive mechanism, which is used to drive the swivel to reciprocate. The swivel module support is located at the first end of the control connecting rod and is used to install the swivel module.

[0006] The second end of the control connecting rod is connected to the control body. A control wire is threaded through the control connecting rod. The control wire includes a sewing drive wire. The first end of the sewing drive wire is connected to the reciprocating needle drive mechanism. The second end of the sewing drive wire extends into the interior of the control body.

[0007] The control body is provided with a suture drive control unit, which is connected to the suture drive wire. The suture drive control unit is used to control the tension of the suture drive wire in order to control the reciprocating drive mechanism of the curved needle to drive the reciprocating motion of the curved needle.

[0008] The reciprocating needle drive mechanism includes a suture drive wheel, and two suture drive wires are circulated and conveyed. The first ends of the two suture drive wires are fixedly connected to two positions of the suture drive wheel, and the second ends of the two suture drive wires are fixedly connected to two positions of the suture drive control unit.

[0009] Furthermore, a handle is provided at the bottom of the control body.

[0010] Furthermore, the suture drive control unit is a suture drive rocker, which is hinged to the control body;

[0011] The stitching drive rocker is located in front of the handle. When the stitching drive rocker moves closer to the handle, the needle completes one advance action. When the stitching drive rocker moves away from the handle, the needle completes one reset action.

[0012] Furthermore, a hinge block is provided at the second end of the curved needle module support, and a hinge seat is provided at the first end of the control connecting rod. The hinge block and the hinge seat are hinged together by a hinge member.

[0013] Furthermore, the control wire also includes a swing drive wire, which consists of two cyclically conveyed wires. The first ends of the two swing drive wires are fixedly connected to two positions of the hinge block, respectively. A swing drive roller is also rotatably disposed inside the control body. The second ends of the two swing drive wires are fixedly connected to two positions of the swing drive roller, respectively. The swing drive roller is connected to a swing knob via a connecting shaft, and the swing knob is disposed outside the control body.

[0014] Furthermore, the control body is also provided with a steel wire guide roller assembly. The sewing drive steel wire and the swing drive steel wire inside the control body first bypass the guide rollers corresponding to the steel wire guide roller assembly, and then connect to the sewing drive wheel and the swing drive roller respectively.

[0015] Furthermore, a steel wire limiting spring tube is provided between the curved needle module support and the first end of the control connecting rod. The sewing drive steel wire passes through the steel wire limiting spring tube, and the steel wire limiting spring tube is used to ensure that the internal length of the curved needle module support remains consistent when it swings relative to the control connecting rod.

[0016] Furthermore, the curved needle module includes a curved needle mounting block, the curved needle mounting block is provided with a curved needle groove, the curved needle is movably disposed in the curved needle groove, and the shape of the curved needle is consistent with the curved needle groove;

[0017] The reciprocating drive mechanism of the curved needle also includes a curved needle transmission link, the first end of which is hinged to the curved needle, and the second end of which is hinged to the non-rotation center position of the sewing drive wheel;

[0018] The first end of 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 provided with a thread guide and a thread guide reciprocating release mechanism. The thread guide corresponds to the curved needle and is connected to the suture thread. The thread guide reciprocating release mechanism is used to restrict or release the thread guide.

[0019] The above-described solution of the present invention has the following beneficial effects:

[0020] The continuous reciprocating motion laparoscopic suture device provided by this invention uses a reciprocating motion of the curved needle for surgical suturing. The control body controls the reciprocating drive mechanism of the curved needle through a suture drive wire to drive the curved needle in the forward or reverse direction, so that the curved needle can reciprocate. Compared with the 360-degree rotation of the curved needle, it is smoother when puncturing human tissue and better avoids phenomena such as the curved needle getting stuck in human tissue during the suturing process, which can lead to the curved needle becoming stuck and unable to move, or causing abnormal damage to human tissue. The setting of the suture drive rocker on the control body makes the switching operation of the reciprocating motion of the curved needle during the surgical suturing process convenient, further improving the efficiency and quality of the suturing operation.

[0021] Other beneficial effects of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the control body of the present invention;

[0024] Figure 3 This is a schematic diagram showing the connection between the curved needle module support and the control connecting rod of the present invention;

[0025] Figure 4 This is a schematic diagram of the stitching drive wheel of the present invention;

[0026] Figure 5 This is a schematic diagram of the reciprocating drive mechanism of the curved needle module in the present invention;

[0027] Figure 6This is a schematic diagram of the internal structure of the curved needle module of the present invention;

[0028] Figure 7 This is a schematic diagram of the wire guide head and the wire guide head reciprocating disengagement mechanism of the present invention;

[0029] Figure 8 This is a schematic diagram of the two-sided cutting flange and the limiting step of the present invention.

[0030] [Explanation of Labels in the Attached Image]

[0031] 100-Actuator body; 110-Curled needle module; 111-Curled needle; 112-Sewing drive wheel; 113-Curled needle mounting block; 114-Curled needle groove; 115-Curled needle transmission link; 116-Guide link; 117-First opening; 118-Second opening; 120-Curled needle module support; 121-Hinge block; 200-Control body; 201-Sewing drive wire; 202-Handle; 204-Sewing drive rocker arm; 205-Oscillating drive Wire; 206-Oscillating drive roller; 207-Oscillating knob; 208-Wire guide roller assembly; 300-Control connecting rod; 301-Hinge seat; 302-Wire limit spring tube; 303-Rotating knob; 401-Wire guide head; 402-Conical clamping groove; 403-Rotating buckle; 404-Rotating buckle base; 405-Disengagement mechanism mounting groove; 406-Wedge tooth; 407-Reset spring; 408-Double-sided cutting flange; 409-Limiting step. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] like Figure 1 As shown, an embodiment of the present invention provides a continuous reciprocating laparoscopic suture device, including an actuator body 100, a control body 200, and a control connecting rod 300. The control body 200 is used to control the movement of the actuator body 100. The actuator body 100 includes a curved needle module 110 and a curved needle module support body 120. The curved needle module 110 is used to mount a curved needle 111 and has a curved needle reciprocating drive mechanism inside. The curved needle 111 is driven to reciprocate by the curved needle reciprocating drive mechanism to complete the suturing of human tissue. The curved needle module support body 120 is fixed to the first end of the control connecting rod 300 and is used to mount the curved needle module 110. The second end of the control connecting rod 300 is connected to the control body 200, and the movement of the actuator body 100 is controlled by the transmission of the control body 200 and the control connecting rod 300.

[0036] At the same time, such as Figure 2 , Figure 4 As shown, in this embodiment, a control wire is threaded through the control connecting rod 300, and control is achieved through wire transmission. Simultaneously, the reciprocating drive mechanism for the curved needle includes a sewing drive wheel 112, which drives the curved needle 111 to reciprocate through its reciprocating rotation. Based on this, the control wire in this embodiment includes a sewing drive wire 201, consisting of two cyclically fed wires. The first ends of the two sewing drive wires 201 are fixedly connected to two positions on the sewing drive wheel 112 (or the sewing drive wire 201 is a single closed wire, with its first end fixedly wound around the sewing drive wheel 112). The second ends of the two sewing drive wires 201 pass through the control connecting rod 300 and extend into the control body 200. When one of the suture drive wires 201 is pulled taut towards the control body 200 and the other suture drive wire 201 is released from the control body 200, the suture drive wheel 112 can be controlled to rotate. The two suture drive wires 201 are stretched repeatedly to control the suture drive wheel 112 to rotate repeatedly, which drives the curved needle 111 to move back and forth to perform suture.

[0037] In this embodiment, the control body 200 is designed for easy hand-holding, with a handle 202 at its bottom. The control body 200 also includes a sewing drive rocker 204, which is hinged to the control body 200. The first end of the sewing drive rocker 204 extends into the control body 200, and the second ends of two sewing drive wires 201 pass through the control connecting rod 300 and enter the control body 200, respectively fixedly connected (or individually fixedly wound) to two positions at the first end of the sewing drive rocker 204. When the sewing drive rocker 204 moves towards the handle 202, one sewing drive wire 201 is tightened while the other is loosened, allowing the needle 111 to complete one advance movement. When the sewing drive rocker 204 reverses direction, the needle 111 completes one reset movement. Therefore, in actual operation, holding the control body 200 and clamping the sewing drive rocker 204 with the handle 202 allows the needle 111 to complete one sewing movement, which is more suitable for user habits.

[0038] Understandably, given the inconvenience of reversing the suture drive rocker 204, a reset torsion spring can be installed on the hinge axis of the suture drive rocker 204. This reset torsion spring automatically resets the suture drive rocker 204, meaning that when the suture drive rocker 204 is released, the curved needle 111 automatically completes one reset action. This ensures that during continuous suture operations, the surgeon only needs to press the needle, facilitating rhythm control and improving suture efficiency. However, since the force required for the curved needle 111 to reset is still significant, manual control of the suture drive rocker 204 is usually still necessary. Using a reset torsion spring is only an optional implementation method.

[0039] At the same time, such as Figure 3 As shown, as a further improvement, in this embodiment, the actuator body 100 and the first end of the control connecting rod 300 are hinged, so that the actuator body 100 can have a swinging degree of freedom relative to the control body 200, so as to facilitate the adjustment of the pitch angle of the curved needle 111 for sewing. The swinging of the actuator body 100 is also controlled by the swing driving wire 205. Specifically, as shown in the figure, the second end of the curved needle module support 120 is provided with a hinge block 121, and the first end of the control connecting rod 300 is provided with a hinge seat 301. The hinge block 121 and the hinge seat 301 are hinged together by a hinge member. The swing drive wire 205 is connected to the hinge block 121. There are two swing drive wires 205 that are circulated and conveyed. The first ends of the two swing drive wires 205 are fixedly connected to two positions of the hinge block 121 respectively (or the swing drive wire 205 is a closed single wire, and its first end is fixedly wound around the hinge block 121). When one of the swing drive wires 205 is shortened towards the control body 200 and the other swing drive wire 205 is extended from the control body 200, the hinge block 121 can be controlled to rotate around the hinge seat 301 to complete the swing action.

[0040] In contrast, the control body 200 also includes a swing drive roller 206, which is rotatably connected to the control body 200. The second ends of two swing drive steel wires 205 pass through the control connecting rod 300 and enter the control body 200, respectively, and are fixedly connected to two positions of the swing drive roller 206 (or a single wire is fixedly wound around it). The swing drive roller 206 is connected to a swing knob 207 via a connecting shaft, and the swing knob 207 is located outside the control body 200. Therefore, the swing knob 207 can be rotated by flicking a finger to precisely control the swing amplitude. In a preferred embodiment, the swing knob 207 is positioned in front of the suture drive rocker 204, allowing the surgeon to directly flick the swing knob 207 with their index finger while holding the handle 202, further improving operational convenience.

[0041] In addition, a steel wire guide roller assembly 208 is also provided inside the control body 200. The sewing drive steel wire 201 and the swing drive steel wire 205, which enter the control body 200 from the control connecting rod 300, first bypass the guide rollers corresponding to the steel wire guide roller assembly 208 and then connect to the sewing drive rocker 203 and the swing drive roller 206 respectively, so that the distribution of the control steel wires in the control body 200 is more orderly and they will not interfere with each other.

[0042] Because both the sewing drive wire 201 and the swing drive wire 205 are provided, when the actuator body 100 swings, the sewing drive wheel 112 will also swing accordingly. The sewing drive wire 201 connected to it will bend, causing its length to change, resulting in abnormal movement of the sewing drive wheel 112 driving the curved needle 111. Therefore, to ensure that the swing freedom and the sewing movement freedom of the curved needle 111 are independent of each other, in this embodiment, a wire limiting spring tube 302 is also provided between the curved needle module support 120 and the first end of the control connecting rod 300. The part of the sewing drive wire 201 from the control connecting rod 300 to the curved needle module support 120 is located inside the wire limiting spring tube 302. The wire limiting spring tube 302 can keep its internal length consistent when the curved needle module support 120 swings relative to the control connecting rod 300. Therefore, the length of the sewing drive wire 201 located inside is also kept constant during the swing process, and will not cause the sewing drive wheel 112 to rotate abnormally. By relying on the setting of the steel wire limiting spring tube 302, the decoupling of the swing degree of freedom and the sewing degree of freedom of the actuator body 100 is ensured, further improving the reliability and safety of operation.

[0043] As a further improvement, in this embodiment, the control connecting rod 300 is also rotatably connected to the control body 200 to adjust the rotation angle of the entire actuator body 100. The second end of the control connecting rod 300 is also equipped with a rotary knob 303, which is also located outside the control body 200. The rotary knob 303 can be rotated by flicking a finger to precisely adjust the rotation angle of the control connecting rod 300. It should be noted that this degree of freedom adjustment is only a fine-tuning, as it cannot be completely decoupled from the swinging degree of freedom and the sewing degree of freedom.

[0044] At the same time, such as Figure 5 , Figure 6 As shown, in this embodiment, the curved needle module 110 includes a curved needle mounting block 113. A curved needle groove 114 is provided at the first end of the curved needle mounting block 113. The curved needle 111 is movably disposed within the curved needle groove 114, and its shape is consistent with the curved needle groove 114, enabling it to move along a curved path. In a preferred embodiment, both the curved needle groove 114 and the curved needle 111 are arc-shaped. Therefore, the curved needle 111 reciprocates on a circumference, facilitating control and smoother force transmission. The sewing drive wheel 112 is located inside the curved needle mounting block 113. The curved needle reciprocating drive mechanism also includes a curved needle transmission link 115. The first end of the curved needle transmission link 115 is hinged to one point of the curved needle 111, and the second end of the curved needle transmission link 115 is hinged to the non-rotation center position of the sewing drive wheel 112. Therefore, when the sewing drive wheel 112 rotates, it can drive the second end of the curved needle transmission link 115 to rotate, thereby driving the first end of the curved needle transmission link 115 to drive the curved needle 111 to move along the curved needle groove 114 to complete the sewing or repositioning action.

[0045] Since the curved needle 111 needs to move along the arc-shaped curved needle groove 114, in order to further improve the stability of the curved needle 111 driven by the curved needle transmission link 115 and adapt to the precision operation of surgical suturing, the curved needle reciprocating drive mechanism in this embodiment also includes a guide link 116. The first end of the guide link 116 is hinged to the curved needle transmission link 115, and the second end of the guide link 116 is hinged to the curved needle mounting block 113. At the same time, the line connecting the hinge point of the curved needle transmission link 115 and the suture drive wheel 112 to the rotation center of the suture drive wheel 112 is always parallel to the guide link 116, and the line connecting the hinge point of the guide link 116 and the curved needle mounting block 113 to the rotation center of the suture drive wheel 112 is always parallel to the curved needle transmission link 115, thus forming a double parallelogram transmission form.

[0046] Specifically, such as Figure 5As shown, the first parallelogram is formed by the guide link 116, the needle drive link 115, the sewing drive wheel 112, and the needle mounting block 113. This parallelogram ensures that the needle drive link 115 maintains translation and that the driving force on the needle 111 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 112, the needle drive link 115, the needle 111, and the needle mounting block 113. The needle 111 is confined within the needle groove 114 and can only rotate around the center of the needle groove 114. The suture drive wheel 112 is eccentrically connected to the needle transmission link 115 to form a double parallelogram drive crank. By controlling the rotation angle θ of the crank, the needle transmission link 115 is translated, thereby driving the needle 111 to reciprocate to achieve suture and reset. Under the constraint of the needle groove 114 and the driving force is kept tangential, the stability of the continuous movement of the needle 111 can be improved.

[0047] In summary, through the reciprocating needle drive mechanism with a double parallelogram transmission, the sewing drive wheel 112 can... Figure 5 When rotated counterclockwise as shown, the curved needle 111 is driven to pass through the curved needle groove 114 to perform actions such as suturing and puncturing human tissue. Figure 5 When rotated clockwise, the curved needle 111 retracts into the curved needle groove 114. Based on the reciprocating motion of the curved needle 111, the suturing process is as follows: the puncture tip of the curved needle 111 exits from the first opening 117, passes through the human tissue, and then enters the second opening 118, inserting into the suture guide 401. The suture guide reciprocating disengagement mechanism switches to the release state of the suture guide 401. The curved needle 111 resets, causing the suture guide 401 to return from the puncture site in the human tissue and then back to the first opening 117. The suture guide 401, carrying the suture, passes through the puncture site in the human tissue and stops at the first opening 117. The curved needle 111 moves again to the second opening 118, bypassing the outside of the human tissue, so that the suture guide 401 returns to the second opening 118. The suture guide reciprocating disengagement mechanism switches to the restricting state of the suture guide 401. When the curved needle 111 resets, the suture guide 401 disengages from the curved needle 111 and remains in the second opening 118. A second puncture is performed, and the suturing of the human tissue is completed in sequence.

[0048] The first opening 117 and the second opening 118 are both located at the first end of the curved needle mounting block 113. The first opening 117 is located at the end of the curved needle groove 114, and the second opening 118 is not connected to the curved needle groove 114. The thread guide 401 is connected to the suture thread and is initially inserted at the position of the second opening 118. The thread guide reciprocating release mechanism is also located at the position of the second opening 118 to switch between restricting or releasing the thread guide 401, so that the thread guide 401 can be intermittently fixed at the position of the second opening 118 or released to adapt to the aforementioned suturing method of reciprocating motion of the curved needle 111.

[0049] At the same time, such as Figure 7 As shown, the first end of the wire guide 401 is provided with a conical locking groove 402 corresponding to the puncture tip of the curved needle 111. When the puncture tip of the curved needle 111 is inserted into the conical locking groove 402, it can be quickly and smoothly inserted by being guided by the conical surface of the conical locking groove 402. After insertion, the stepped surface of the rear part of the puncture tip can engage with the stepped surface of the conical locking groove 402, so that the wire guide 401 moves out of the second opening 118 with the curved needle 111 when it is not restricted by the wire guide reciprocating disengagement mechanism. When the wire guide reciprocating disengagement mechanism restricts the wire guide 401, the stepped surface can be deformed during the withdrawal of the curved needle 111 (the wire guide 401 is made of elastic material and has grooves on its surface, which can expand as a whole), so that the curved needle 111 leaves the wire guide 401, and the wire guide 401 remains in the position of the second opening 118.

[0050] In a preferred embodiment, the reciprocating release mechanism for the wire guide includes a rotating buckle 403 and a rotating buckle base 404. Both the rotating buckle 403 and the rotating buckle base 404 are disposed within the release mechanism mounting groove 405 behind the second opening of the curved pin mounting block 113. The rotating buckle 403 is located at the first end of the release mechanism mounting groove 405, and the rotating buckle base 404 is located at the second end of the release mechanism mounting groove 405, with wedge-shaped teeth 406 engaging between them. A return spring 407 is also provided between the rotating buckle base 404 and the rotating buckle 403, with its two ends located inside the cylindrical rotating buckle 403 and the rotating buckle base 404, respectively. Meanwhile... Figure 8As shown, the second end of the wire guide 401 is provided with a double-cut flange 408, which has certain cuts on its two opposite sides. At the same time, the corresponding end of the rotating buckle 403 is provided with an end hole, which is similar in shape to the double-cut flange 408. A limiting step 409 is provided inside the end hole so that when the double-cut flange 408 is in the first angle position relative to the rotating buckle 403, it passes through the end hole of the rotating buckle 403 and enters the interior of the rotating buckle 403. When the rotating buckle 403 rotates and the double-cut flange 408 is in the second angle position relative to the rotating buckle 403, the end of the double-cut flange 408 abuts against the limiting step 409 and cannot be dislodged from the rotating buckle 403. Therefore, when the swivel needle 111 is withdrawn, it can be smoothly separated from the wire guide 401.

[0051] During the process of the two-sided cutting flange 408 entering the rotary buckle 403, the wire guide head 401 also moves towards the disengagement mechanism mounting groove 405, which can push the rotary buckle 403 towards the rotary buckle base 404, so that the wedge teeth 406 of the two engage and push the rotary buckle 403 along the inclined tooth surface to rotate a preset angle (at this time, the two-sided cutting flange 408 is in the second angle position relative to the rotary buckle 403). When the crank needle 111 exits, under the action of the return spring 407, the rotary buckle 403 returns to the first end of the disengagement mechanism mounting groove 405. At this time, the two-sided cutting flange 408 cannot disengage from the rotary buckle 403 in the second angle position, so the crank needle 111 can be smoothly separated from the wire guide head 401 when it exits. When the curved needle 111 is inserted into the wire guide 401 again, with the cooperation of the wedge teeth 406, the rotating buckle 403 rotates at a preset angle until the two-sided cutting flange 408 is in the first angle position relative to the rotating buckle 403. After the curved needle 111 is withdrawn, under the action of the return spring 407, the rotating buckle 403 returns to the first end of the disengagement mechanism mounting groove 405. At this time, the two-sided cutting flange 408 can be disengaged from the rotating buckle 403 at the first angle position. Therefore, when the curved needle 111 is withdrawn, it drives the wire guide 401 to smoothly leave the rotating buckle 403 and the second opening 118.

[0052] In a preferred embodiment, the rotating buckle 403 rotates 90 degrees each time. The rotating buckle 403 and the wedge-shaped teeth 406 on the rotating buckle base 404 are arranged in four pairs and evenly distributed around it. Therefore, the rotating buckle 403 rotates 90 degrees in sequence. When it is at the 0-degree and 180-degree phases, the two-sided cutting flange 408 is in the first angular position relative to the rotating buckle 403. When it is at the 90-degree and 270-degree phases, the two-sided cutting flange 408 is in the second angular position relative to the rotating buckle 403. This achieves the intermittent disengagement of the suture guide 401 from the curved needle during the suturing process, ensuring the orderly puncture of human tissue and the suture path when the curved needle 111 adopts a continuous reciprocating motion suturing method.

[0053] Of course, in other embodiments, the state can also be switched by electrical control or wire control. The control buttons, etc., also need to be set on the control body 200. During the suturing process, whenever the curved needle 111 moves towards the second opening 118, the state of the disengagement mechanism needs to be switched by operating on the control body 200. Since the curved needle 111 needs to move back and forth a large number of times during the surgical suturing process, this method obviously increases the complexity of the operation and reduces the suturing efficiency and quality. Therefore, the preferred embodiment is to use the aforementioned automatic intermittent suture guide head reciprocating disengagement mechanism, which can automatically and intermittently complete the release and restriction of the suture guide head 401. At this time, there is no need to connect to the control body 200 by a control wire or set an electrical control button on the control body 200, which also simplifies the setting of the control body 200.

[0054] 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 continuous reciprocating laparoscopic suture device, characterized in that, Includes the actuator body, the control body, and the control connecting rod; The actuator body includes a swivel module and a swivel module support. The swivel module is used to install the swivel, and the swivel module is provided with a swivel reciprocating drive mechanism, which is used to drive the swivel to reciprocate. The swivel module support is located at the first end of the control connecting rod and is used to install the swivel module. The second end of the control connecting rod is connected to the control body. A control wire is threaded through the control connecting rod. The control wire includes a sewing drive wire. The first end of the sewing drive wire is connected to the reciprocating needle drive mechanism. The second end of the sewing drive wire extends into the interior of the control body. The control body is provided with a suture drive control unit, which is connected to the suture drive wire. The suture drive control unit is used to control the tension of the suture drive wire in order to control the reciprocating drive mechanism of the curved needle to drive the reciprocating motion of the curved needle. The reciprocating needle drive mechanism includes a suture drive wheel; The curved needle module includes a curved needle mounting block, the curved needle mounting block is provided with a curved needle groove, the curved needle is movably disposed in the curved needle groove, and the shape of the curved needle is consistent with the curved needle groove; The reciprocating drive mechanism of the curved needle also includes a curved needle transmission link, the first end of which is hinged to the curved needle, and the second end of which is hinged to the non-rotation center position of the sewing drive wheel; The first end of 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 provided with a thread guide and a thread guide reciprocating release mechanism. The thread guide corresponds to the curved needle and is connected to the suture thread. The thread guide reciprocating release mechanism is used to restrict or release the thread guide. The reciprocating release mechanism of the wire guide includes a rotating buckle and a rotating buckle base. Both the rotating buckle and the rotating buckle base are disposed in the release mechanism mounting groove behind the second opening of the curved pin mounting block. The rotating buckle is located at the first end of the release mechanism mounting groove, and the rotating buckle base is located at the second end of the release mechanism mounting groove. The two have wedge-shaped teeth that cooperate with each other. A return spring is also provided between the rotating buckle base and the rotating buckle. The two ends of the return spring are respectively located inside the rotating buckle and the rotating buckle base. The second end of the wire guide is provided with a double-sided cutting flange. The corresponding end of the rotating buckle is provided with an end hole. The end hole matches the shape of the double-sided cutting flange. A limiting step is provided inside the end hole so that when the double-sided cutting flange is in a first angle position relative to the rotating buckle, it passes through the end hole and enters the interior of the rotating buckle. When the rotating buckle rotates and the double-sided cutting flange is in a second angle position relative to the rotating buckle, the end of the double-sided cutting flange abuts against the limiting step and cannot be disengaged from the rotating buckle.

2. The continuous reciprocating laparoscopic suture device according to claim 1, wherein, The suture drive wires are two wires that are circulated and conveyed. The first ends of the two suture drive wires are fixedly connected to two positions of the suture drive wheel, and the second ends of the two suture drive wires are fixedly connected to two positions of the suture drive control unit.

3. The continuous reciprocating laparoscopic suture device according to claim 2, characterized in that, A handle is provided at the bottom of the control unit.

4. The continuous reciprocating laparoscopic suture device according to claim 3, characterized in that, The suture drive control unit is a suture drive rocker, which is hinged to the control body. The stitching drive rocker is located in front of the handle. When the stitching drive rocker moves closer to the handle, the needle completes one advance action. When the stitching drive rocker moves away from the handle, the needle completes one reset action.

5. The continuous reciprocating laparoscopic suture device according to claim 1, characterized in that, The second end of the curved needle module support is provided with a hinge block, and the first end of the control connecting rod is provided with a hinge seat. The hinge block and the hinge seat are hinged together by a hinge member.

6. The continuous reciprocating laparoscopic suture device according to claim 5, characterized in that, The control wire also includes a swing drive wire, which consists of two cyclically conveyed wires. The first ends of the two swing drive wires are fixedly connected to two positions of the hinge block, respectively. A swing drive roller is also rotatably installed inside the control body. The second ends of the two swing drive wires are fixedly connected to two positions of the swing drive roller, respectively. The swing drive roller is connected to a swing knob via a connecting shaft. The swing knob is located outside the control body.

7. The continuous reciprocating laparoscopic suture device according to claim 6, characterized in that, The control body is also equipped with a steel wire guide roller assembly. The sewing drive steel wire and the swing drive steel wire inside the control body first bypass the guide rollers corresponding to the steel wire guide roller assembly, and then connect to the sewing drive wheel and the swing drive roller respectively.

8. The continuous reciprocating laparoscopic suture device according to claim 5, characterized in that, A steel wire limiting spring tube is also provided between the curved needle module support and the first end of the control connecting rod. The sewing drive steel wire passes through the steel wire limiting spring tube, and the steel wire limiting spring tube is used to ensure that the internal length of the curved needle module support remains consistent when it swings relative to the control connecting rod.

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