Automatic knotting device

Abstract

The present invention relates to the technical field of knotting, specifically to an automatic knotting device, comprising: a first rod, on which a first, second, third and fourth areas are sequentially arranged; a cavity passing through the first to fourth areas is arranged inside the first rod, and a gap communicating with the cavity is also arranged on the first rod; a clamping member and a fixing member are respectively arranged in the first and third areas; the fixing member can rotate relative to the axis of the first rod, and when the fixing member rotates in a direction close to the axis, the height of the fixing member gradually decreases; and a second rod, on which a pushing portion is arranged at the first end, and when the second rod extends into the interior of the first rod through the cavity, the pushing portion protrudes outward through the gap, thereby being used to push the coil on the fixing member. The automatic knotting device of the present invention integrates the triple functions of winding, pushing and tightening the knot. The operator uses the knotting device to complete the difficult knotting and pushing tasks, and flexibly adjusts the tightening force, while improving the knotting quality and speed.

Description

Technical Field

[0001] The invention relates to the technical field of knotting, and in particular to an automatic knotting device. Background Art

[0002] Surgical knotting is a key part of surgical operations, especially for some surgical suturing processes involving important blood vessels and nerves (such as laparoscopic surgery, intraoral surgery, etc.), which puts extremely high demands on the quality and speed of surgical knotting. There are generally two types of existing surgical knotting methods. One is the traditional manual knotting operation, which is mainly completed manually (or with the help of some simple tools, such as surgical needles) to complete the process of threading, pushing and tightening the knot. However, this relatively traditional manual knotting operation requires a very high level of professionalism from the operator. Therefore, some knotting devices are also provided in the prior art in the hope of reducing the difficulty of knotting operations during surgery.

[0003] For example, the prior art proposes an operation method of first manually threading a knot and then achieving traction with the help of a knotting device. See patent application number CN2016105081470, which discloses a puncture-free sleeve minimally invasive laparoscopic traction and knotting device and a method of use. The knotting device in the patent requires the user to manually tie a knot into a loop outside the device, and then use the knotting device to extend the loop into the abdomen to complete the traction or knotting. On the one hand, this method of extending the knotting device into the wound (such as extending it into the abdomen, etc.) may have an adverse effect on the wound (such as possibly increasing the wound area, or making it difficult for the doctor to use the knotting device to perform puncture or knotting operations due to the small operable space). On the other hand, this knotting device requires extremely high professionalism of the doctor's operation, especially when the suture area is relatively large or multiple knots need to be tied repeatedly. The doctor needs to rely mainly on his own practical experience (such as the feel of the operation) under the condition of obstructed vision, and repeat the manual knotting, pulling, puncture and other operations with both hands for a long time, and the probability of error operation is relatively increased.

[0004] For another example, a knotting device that can improve knotting efficiency by continuous knotting / elastic knotting is also proposed in the prior art. However, the continuous knotting / elastic knotting method is difficult to control the degree of tightening of the knot or ring, as well as the suture interval between two knots during the process of threading and tightening the knot. Therefore, it is still difficult for operators to control the knotting quality (such as tightness, etc.). On the one hand, it is easy to cause poor wound healing and obvious scars due to excessive or too little wound tension. On the other hand, especially for surgeries with relatively small suture amounts, the consumption of sutures will increase significantly, that is, increase the cost of surgery. For example, see the patent application with application number CN2016105081470, which discloses a double knot pusher for transsphenoidal endoscopic surgery, which adopts a similar continuous knotting design. See also the patent application with application number CN2022111055731, which discloses a dental elastic line knotting device. The knotting device can control the block on the telescopic mechanism through the sliding button on the hand grip to perform continuous knotting operations. In addition, the device uses a mechanical structure (such as the movement of the block) to control the tightness of the knot, which actually also requires the operator to have extremely high professional control over the process of threading and tightening the knot. In addition, the device needs to integrate multiple components such as a fixed ring 5, a rotating mechanism 7, a first telescopic rod 10, a block 11 and a second telescopic rod 12 in the vicinity of the telescopic mechanism 6 with a limited volume. As a result, the production and processing costs are relatively high, and the difficulty of learning and using is relatively large; secondly, the whole set of knotting devices will not be conducive to completing preoperative disinfection preparations.

[0005] For another example, the prior art also proposes a knotting device that cooperates with existing surgical equipment (such as laparoscopes and other surgical manipulators). See patent application number CN201120457538, which discloses a minimally invasive intracavitary suture knotter. However, this type of knotter must be used together with other surgical manipulators. Therefore, from the perspective of the operator, both hands are required to flexibly operate the knotter and the manipulator synchronously. On the one hand, the difficulty of the operating technique is still not low. On the other hand, the joint use of two or more instruments also puts higher requirements on the operating space, which is not conducive to suturing operations in narrow spaces (such as easily affecting the wound area).

[0006] Therefore, there is an urgent need for a knotting device to help medical staff quickly and accurately complete surgical knotting without affecting the wound. Summary of the invention

[0007] The object of the present invention is to provide an automatic knotting device to partially solve or alleviate the above-mentioned deficiencies in the prior art, and to help medical staff quickly and accurately complete surgical knotting without affecting the wound.

[0008] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: an automatic knotting device, comprising:

[0009] A first rod, wherein the first rod is provided with a first area, a second area, a third area and a fourth area in sequence from the first end to the second end; a cavity is provided inside the first rod, the cavity passes through the first, second, third and fourth areas in sequence, and a gap connected to the cavity is also provided on the outer side of the first rod, the gap passes through the second, third and fourth areas in sequence; wherein,

[0010] A first clamping member is disposed outside the first region for clamping the suture;

[0011] The third area is provided with at least one fixing member for assisting the suture to be wound into a coil; wherein the fixing member can rotate relative to the first axis of the first rod, and when the fixing member rotates in a direction close to the first axis, the height of the fixing member gradually decreases; wherein the height refers to the distance between the side of the fixing member away from the first rod or at least one point on the side and the first rod;

[0012] and a second rod, wherein a first end of the second rod is provided with a pushing portion for pushing the coil wound on the fixing member; when the first end of the second rod extends into the first rod through the cavity, the pushing portion protrudes outward through the gap, and the second rod can reciprocate along the direction of the first axis of the cavity under the action of an external force;

[0013] In which, when the automatic knotting device is in a knotting state, the pushing part can be pushed or maintained in the second area under the drive of the second rod, so that the pushing part cooperates with the fixing part to form a knotting space I, so that the suture can be wound around at least one coil in the knotting space I.

[0014] In some embodiments, the first clamping member includes: a first clamping plate, and a first rotating shaft arranged on the outside of the first rod, and the first clamping plate is rotatably connected to the first rod through the first rotating shaft; wherein, the first clamping plate is in a clamping state when not acted upon by an external force, and when the first clamping plate is acted upon by an external force, the first clamping plate will gradually change from a clamping state to a non-clamping state; a clamping area is provided on the second side surface of the first clamping plate for at least one finger of the operator to perform a clamping or pressing operation.

[0015] In some embodiments, a second clamping member is further provided on the side of the first area opposite to the first clamping member, and the second clamping member includes: a second clamping plate, and a second rotating shaft provided on the outside of the first rod, and the second clamping plate is rotatably connected to the first rod through the second rotating shaft; wherein, the second clamping plate is in a clamping state when not acted upon by an external force, and when the second clamping plate is acted upon by an external force, the second clamping plate will gradually change from a clamping state to a non-clamping state.

[0016] In some embodiments, the second clamping plate includes: a first plate and a second plate connected to each other, and the first side surfaces of the first plate and the second plate are respectively arranged toward the side surfaces of the first rod, and respectively form a first clamping interval and a second clamping interval with the side surfaces of the first rod; when the suture is clamped in the first clamping interval, the minimum force that can enable the suture to overcome the clamping effect of the first plate and move relatively is a second tension f2; when the suture is clamped in the second clamping interval, the minimum force that can enable the suture to overcome the clamping effect of the second plate and move relatively is a third tension f3, and the third tension f3 is greater than the second tension f2.

[0017] In some embodiments, a first mark for differentiating the physical touch of the first plate and the second plate is disposed on the second side surfaces of the first plate and the second plate.

[0018] In some embodiments, the fixing member includes: a first connecting member, a second connecting member and a third connecting member connected in sequence end to end; and when the fixing member is installed on the first rod, a third angle opening outward is formed between the side of the second connecting member and the first rod, and the third angle is an obtuse angle, so that the side forms a slope area; and the slope area, the side wall of the second area and the clamping area on the outside of the clamping plate together form a hand operation space II, so that at least one finger of the operator can clamp the automatic knotting device through the hand operation space II; wherein, the side refers to one side of the fixing member away from the side of the first rod.

[0019] In some embodiments, the side of the second connecting member includes: a first side, a second side and a third side connected end to end in sequence, wherein a first angle with an opening facing inward is formed between the first side and the second side, and a second angle with an opening facing inward is formed between the second side and the third side, and both the first angle and the second angle are obtuse angles; and when the fixing member is disposed on the first rod and is in an initial state, the height of the second side gradually decreases from its head end to its tail end, and the height of the third side also gradually decreases from its head end to its tail end.

[0020] In some embodiments, the side of the third connecting member includes, from its head end to its tail end, in sequence: a first curved surface and a second curved surface connected to each other; wherein the slope of the first curve formed by the cross-section of the first curved surface along the direction from its head end to its tail end tends to gradually decrease to zero and then gradually increase.

[0021] In some embodiments, the first angle is smaller than the second angle.

[0022] In some embodiments, an opening direction of a second curve formed by a cross section of the second curved surface is opposite to an opening direction of the first curve, and the second curve is a smooth curve.

[0023] In some embodiments, a mounting groove for installing the fixing member is further provided in the third area, and a first side wall and a second side wall are relatively provided on both sides of the mounting groove; wherein the side edges of the first and second side walls include: a fourth side edge and a fifth side edge connected in sequence end to end, and the height of the fifth side edge gradually decreases from the head end to the tail end, so that when the fixing member is gradually rotated into the mounting groove under the action of the corresponding external force, the highest point of the third connecting member is recovered into the space of the mounting groove to avoid the third connecting member from blocking the coil.

[0024] In some embodiments, an end of the pushing portion away from the first rod is configured as a bent structure.

[0025] In some embodiments, the method for knotting using the automatic knotting device comprises the steps of:

[0026] S101: making the pushing portion retreat or remain at the second area to reserve a through-knot space I between the pushing portion and the fixing member;

[0027] S102 fixes the first line segment A of the suture by using the first clamping member;

[0028] S103 uses the second line segment B of the suture to wrap around at least one loop on the knot-threading space I, and makes the first line segment A wrapped inside;

[0029] S104: passing the active end of the second line segment B through the suture, so that the second line segment B goes around the coil wound in S103 and passes out of the coil, so that the coil is initially knotted;

[0030] S105 pushes the second rod to move along the knot-pushing direction, so as to use the pushing part to drive the coil to move and push the coil away from the first rod.

[0031] In some embodiments, the S105 comprises the steps of:

[0032] Pressing a first finger into a first hand operation space formed between the first clamping member and the corresponding fixing member, and pressing a second finger into a second hand operation space formed between the second clamping member of the first rod and the corresponding fixing member;

[0033] Move the first finger and / or the second finger in the knot-pushing direction to press at least one fixing member and rotate it in a direction close to the first axis;

[0034] And push the second rod to move along the knot-pushing direction, so that the wound coil can gradually escape from the knot-piercing space I, the fourth area, and then be pushed away from the first rod.

[0035] In some embodiments, the method further comprises the step: S106 of pulling the second wire segment B so that the coil is tightened into a knot under the corresponding pulling action.

[0036] Beneficial technical effects:

[0037] The present invention provides an automatic knotting device (which is equivalent to providing a new knotting method) to assist the operator to quickly and continuously tie multiple knots by forming knots individually. In addition, in order to reduce the difficulty of single-handed operation as much as possible and ensure the quality of the knot, the present invention integrates the functions of in vitro knot threading and in vitro knot pushing into the knotting device (i.e., the operator's fingers cooperate with the instrument to operate the knot threading and knot pushing), and the knot tightening function is designed to be directly controlled by the operator's hand. As a result, the automatic knotting method can complete the complex knot threading and knot pushing processes in an area with a wide line of sight (i.e., an in vitro environment), and at the same time, it can reserve sufficient flexibility so that the operator can use his fingers to control the final tightness of the knot (such as directly controlling the tightness by pulling the line with fingers according to the tightness of the knot after the knot pushing process).

[0038] From another perspective, the automatic knotting device of the present invention can independently assist the user to achieve single-handed knotting without the aid of other tools (such as surgical manipulators such as laparoscopes). However, it is worth noting that the purpose of the present invention is not to automatically realize the entire process of knotting (such as from threading the knot to tightening the knot) on the automatic knotting device, but to guide the threading and pushing knot processes to be completed outside the body, and leave the tightening process to the operator to adjust with fingers. Therefore, the advantage of the present invention is that it greatly reduces the difficulty of the operating techniques that the operator has to learn to use, so as to improve the knotting efficiency. At the same time, adjustable space is also reserved so that the user can flexibly adjust the quality of the knot.

[0039] Specifically, the present invention takes advantage of the surgeon's flexible fingers, and designs a hand operation space II and a knot threading space I in sequence along the knot pushing direction on the automatic knotting device, so that the surgeon can hold the device with only two or three fingers or other single-handed operations during the suturing process. Moreover, since the hand operation space II and the knot threading space I are both set in the extracorporeal space in actual application, the operator can perform the knot pushing operation in the extracorporeal space with one hand, and after the knot pushing is completed, the other hand can be used to complete the final knot tightening and thread cutting operations. The above-mentioned knotting method effectively improves the knotting efficiency, and at the same time utilizes the knot threading and knot pushing functions of the knotting device, and cooperates with the surgeon's finger advantages to greatly improve the knotting quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0041] Figure 1 is a schematic structural diagram of an automatic knotting device in an exemplary embodiment of the present invention;

[0042] Figure 2 is a schematic cross-sectional structure diagram of an automatic knotting device in an exemplary embodiment of the present invention;

[0043] Figure 3 is a schematic structural diagram of a clamping member in an exemplary embodiment of the present invention;

[0044] Figure 4 is a first structural schematic diagram of a third region in an exemplary embodiment of the present invention;

[0045] Figure 5 is a second structural schematic diagram of the third area in an exemplary embodiment of the present invention;

[0046] Figure 6 is a schematic structural diagram of a fixing member in an exemplary embodiment of the present invention;

[0047] Figure 7 for Figure 6 A schematic diagram of the structure of the fixing member shown;

[0048] Figure 8 for Figure 6 A schematic diagram of a partial structure of the fixing member;

[0049] Fig. 9 A schematic diagram of the pressing operation of an automatic knotting device in an exemplary embodiment of the present invention;

[0050] Fig.10 is a schematic cross-sectional structure diagram of a first rod in an exemplary embodiment of the present invention;

[0051] Fig.11 It is a schematic diagram of the structure of parts of an automatic knotting device in an exemplary embodiment of the present invention;

[0052] Fig.12 It is a schematic diagram of the state of the automatic knotting device after knot pushing is completed in an exemplary embodiment of the present invention.

[0053] Summary of reference numerals:

[0054] 1 is the first rod, 11 is the first area, 111 is the first clamping member, 111a is the first clamping plate, 111b is the first rotating shaft, 112 is the second clamping member, 112a is the second clamping plate, 112a-1 is the first plate, 112a-2 is the second plate, and 112b is the second rotating shaft; 12 is the second area; 13 is the third area, 131 is the fixing member, 1311 is the first connecting member, 1312 is the second connecting member, 1313 is the third connecting member, 1312a is the first side edge, 1312b is the second side edge, and 1312c is the third side edge; 132 is the mounting groove, 132a is the fourth side edge, and 132b is the fifth side edge; 14 is the fourth area; 15 is the cavity; 16 is the gap; 2 is the second rod; 21 is the pushing portion; L1 is the first axis, C1 is the first curve, and C2 is the second curve. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention.

[0056] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0057] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0058] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0060] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0061] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0062] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0063] In this specification, some embodiments may be disclosed in a format that is in a certain range. It should be understood that this description of "being in a certain range" is only for convenience and brevity, and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of the range should be considered to have specifically disclosed all possible sub-ranges and independent numerical values ​​within this range. For example, the description of the range 1 to 6 should be considered to have specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., and individual numbers within this range, such as 1, 2, 3, 4, 5 and 6. Regardless of the breadth of the range, the above rules apply.

[0064] Herein, the suture includes: a first line segment A (ie, the suture tail portion) reserved at one side of the suture for knotting, and a second line segment B (ie, the end with a needle) passing through the other side of the suture.

[0065] Herein, "knot-threading" (or the knot-threading process) means that the second line segment B of the suture forms at least one coil (or loop), and the second line segment B will pass through the at least one coil formed after forming the coil, and the end of the first line segment A will also pass through the at least one coil. For example, the knot-threading or knot-threading process is specifically: the second line segment B forms at least two coils around the first line segment A, and then the second line segment B passes through the at least two coils formed (the needle-carrying end of the second line segment B passes through the coil in a direction away from the suture part). At this point, the first line segment A and the second line segment B have completed the knot-threading preparation before the "pushing knot" step. In other words, the knot to be tied has been initially formed at this point.

[0066] Herein, "pushing the knot" (or pushing the thread process) means that after the suture has completed the knot threading process, while fixing at least one section of the suture (for example, fixing the first line segment A), the coil is pushed in a direction away from the fixed position (or in other words, pushing the coil in a direction close to the suture portion) to push the knot initially formed by the coil away from the first rod to move it to the vicinity of the suture portion.

[0067] In this article, "tightening the knot" (or the process of tightening the thread) means that when the knot is detached from the external device (such as an automatic knotting device) and moves to the vicinity of the suture part (such as after the knot is pushed), at least one section of the suture is pulled (such as pulling the first segment A and the second segment B respectively) so that the suture at the coil (the knot initially formed) is gradually tightened to form a knot with a fixing effect.

[0068] See also Figure 1-Figure 12 The present invention provides an automatic knotting device to assist an operator (such as a doctor) to conveniently perform a single-handed knotting operation in an environment where the operating space is relatively narrow (such as during intraoral surgery).

[0069] like Figure 1 As shown, in some embodiments, the automatic knotting device includes:

[0070] A first rod 1, wherein the first rod 1 is provided with a first region 11, a second region 12, a third region 13 and a fourth region 14 in sequence from the first end to the second end thereof; a cavity 15 is provided inside the first rod 1, and the cavity 15 passes through the first, second, third and fourth regions in sequence, and a gap 16 connected to the cavity 15 is further provided on the outer side of the first rod, and the gap 16 passes through the second, third and fourth regions in sequence; wherein,

[0071] A first clamping member 111 is disposed on one side of the outer side of the first region 11, and a second clamping member 112 is disposed on the other side, and the first and second clamping members can be used to clamp (or fix) the first line segment and the second line segment of the suture respectively;

[0072] The third area 13 is provided with at least one fixing member 131, and the fixing member 131 can rotate relative to the first axis L1 of the first rod, and when the fixing member 131 rotates relative to the first axis L1, the height H of the fixing member 131 gradually decreases, wherein the height H refers to the distance between the side of the fixing member 131 away from the first rod or at least one point on the side (such as a vertex) and the first rod 1;

[0073] and a second rod 2, wherein a push portion 21 is disposed at a first end of the second rod 2, and when the first end of the second rod 2 extends into the first rod 1 through the cavity 15, the push portion 21 protrudes outward through the slit 16, and the second rod 2 can reciprocate along the direction of the first axis L1 of the cavity 15 under the action of an external force;

[0074] When the automatic knotting device is in a knot-threading state (i.e., the operator needs to wind a coil on the fixing member of the first rod at this time), the pushing part 21 can be pushed or maintained at the position of the second area 12, so that the pushing part 21 and the fixing member form a knot-threading space I, so that the suture can be wound at least one circle or at least two circles in the knot-threading space I; when the knotting device is in a knot-pushing state, the second rod 2 moves toward the second end of the first rod under the push of the corresponding external force, and at this time, the pushing part 21 passes through the third and fourth areas from the second area in sequence, so that the wound coil is separated from the first rod under the push of the pushing part. The coil may be gradually tightened in the process of being pushed to separate from the first rod.

[0075] During actual operation, the operator can perform the knot-piercing operation in the knot-piercing space I or in an area adjacent to the knot-piercing space I.

[0076] For example, in some embodiments, the knot-threading space I may be the area between the pushing portion 21 and the fixing member 131 , such that the operator may directly wrap the suture around the wall surface of the adjacent area between the second area 12 and the third area 13 .

[0077] For example, Figure 6 As shown, in some embodiments, the knot-threading space I may also be the side area of ​​the fixing member 131, such as the operator may directly wind the suture around the fixing member 131. When the operator applies force in the direction indicated by the arrow through the finger, the fixing member may be retracted inward (i.e., rotated in the direction of the first axis close to the first rod), so that the wound coil can smoothly leave the knot-threading space I.

[0078] In some embodiments, the first, second, third and fourth regions may be integrally formed. Alternatively, in other embodiments, the above four regions (or operating regions) may be separately processed and formed.

[0079] In some embodiments, the second end of the first rod may be in an open state or a closed state.

[0080] In some embodiments, Figure 2 As shown, the first clamping member 111 includes: a first clamping plate 111a, and a first rotating shaft 111b arranged outside the first rod 1, and the first clamping plate is rotatably connected to the first rod 1 through the first rotating shaft. The first clamping plate is in a clamping state when not acted upon by an external force, and when the first clamping plate is acted upon by a first external force F1, the first clamping plate will gradually change from a clamping state (or a fixed state) to a non-clamping state (or a non-fixed state). In this embodiment, the first clamping member 111 can fix the tail end of the first line segment A during the knot-pushing process to ensure that the operator can successfully tie a knot even with one hand.

[0081] In some embodiments, when the first clamping plate is in a clamping state and clamps the suture, the minimum force that can enable the suture to overcome the clamping action of the first clamping plate and move (or slide) relatively is the first pulling force f1.

[0082] In some embodiments, the first side of the first clamping plate 111a corresponds to the side of the first rod and is spaced by a first distance to accommodate at least one section of suture. A clamping area is provided on the second side of the first clamping plate 111a for at least one finger (such as an index finger) of the operator to perform a clamping operation (for example, applying a second external force F2 to rotate the clamping plate). During the process of pushing the knot, the operator can first use two fingers to press on the outer wall surfaces on both sides of the second area respectively to grasp the automatic knotting device. After completing the pushing knot or tightening the knot, the fingers on one side of the first clamping plate gradually retreat in the direction close to the first end of the first rod, and the first clamping plate can be pressed, so that the first clamping plate cancels the clamping effect on the first line segment A.

[0083] like Figure 3 As shown, in some embodiments, the clamping area and the side wall of the first rod form a fourth angle α4 with the opening facing the fixing member (such as the first side of the fixing member), and the fourth angle α4 is also preferably set to an obtuse angle. In this embodiment, the clamping area and the fixing member (specifically the first side of the fixing member) are arranged relative to each other (such as Fig. 9 As shown), it can also play an anti-slip role to a certain extent, that is, it can prevent the operator from dropping the device when operating with one hand.

[0084] In some embodiments, the second clamping member 112 includes: a second clamping plate 112a, and a second rotating shaft 112b disposed outside the first rod 1, and the second clamping plate 112a is rotatably connected to the first rod 1 through the second rotating shaft 112b. The second clamping plate is in a clamping state when not acted upon by an external force, and when the second clamping plate is acted upon by a second external force F2, the second clamping plate gradually changes from a clamping state (or a fixed state) to a non-clamping state (or a non-fixed state).

[0085] Preferably, in some embodiments, the second clamping plate 112a includes: a first plate 112a-1 and a second plate 112a-2 connected to each other, and the first side surfaces of the first plate and the second plate are respectively arranged toward the side surfaces of the first rod 1, and the first side surfaces of the first plate and the second plate respectively form a first clamping interval and a second clamping interval with the side surfaces of the first rod 1, and the width of the first clamping interval is greater than the width of the second clamping interval (for example, the average width of the first clamping interval is greater than the average width of the second clamping interval).

[0086] When the suture is clamped in the first clamping interval, the minimum force that enables the suture to overcome the clamping effect of the first plate 112a-1 (or the second clamping plate) and move (or slide) relatively is the second tension f2. When the suture is clamped in the second clamping interval, the minimum force that enables the suture to overcome the clamping effect of the second plate 112a-2 (or the second clamping plate) and move (or slide) relatively is the third tension f3. The third tension f3 is greater than the second tension f2.

[0087] In this embodiment, the second clamp adopts a two-stage tension setting to improve the flexibility of the second clamp to a certain extent. Specifically, in order to ensure that the coil wound during the knot threading process can be pushed out of the first rod, on the one hand, it is necessary to ensure that there is a sufficient push-pull length between the wound coil and the clamping point; on the other hand, it is also necessary to avoid interference such as noose caused by excessive length. Among them, the clamping point refers to the position where the suture is clamped by the clamping member.

[0088] Of course, during use, the operator can freely choose to clamp the suture in the first clamping space or the second clamping space according to the current actual knotting situation, such as the remaining length of the suture, or the operator's proficiency in knotting operations.

[0089] For example, when the operator has skilled operation experience, such as being proficient in the length of the line release, the second line segment B can be fixed in the second clamping space during the knot pushing process. At this time, during the knot pushing process, the second line segment B will not be easily loosened.

[0090] For another example, when the operator is not familiar with the length of the line release, the second line segment B can be fixed in the first clamping space during the process of pushing the knot. At this time, if the operator finds that the line segment distance between the coil and the clamping point is too small during the process of pushing the knot, the operator can press the second clamping member with a finger (such as the middle finger) to properly release a certain length of suture, so that the coil can be pushed out of the first rod.

[0091] In some embodiments, the first clamping member may also adopt a structural design similar to that of the second clamping member.

[0092] In some embodiments, a clamping area is also provided on the outer side of the second clamping member for an operator to place his fingers.

[0093] Preferably, in some embodiments, the magnitude of the third pulling force f3 is equal to or similar to the magnitude of the first pulling force f1.

[0094] Preferably, in some embodiments, the first side surface of the first plate may be made of a soft material (such as rubber, etc.), and the first side surface of the second plate may be made of a hard material (such as plastic, metal, etc.).

[0095] Preferably, in some embodiments, the first clamping section and the second clamping section are both configured to tightly clamp a single section of suture.

[0096] Preferably, in some embodiments, for different types of sutures used (such as suture diameters of 0.35 mm, 0.30 mm, 0.25 mm, 0.20 mm, etc.), the clamping space between the first clamping plate and the first rod, and the width of the second clamping interval (such as the minimum width, maximum width or average width) can be approximately 0.35 mm, 0.30 mm, 0.25 mm or 0.20 mm.

[0097] Preferably, in some embodiments, a first mark for differentiating the physical touch of the first plate and the second plate is provided on the second side surface of the first plate and the second plate (i.e., the second side surface of the second clamping plate). In this embodiment, the use of a differentiated setting can facilitate the operator to perceive the regional position of the first plate and the second plate through the touch of the hand. For example, when the operator needs to properly lay out the suture clamped in the first clamping interval, the position of the first plate can be quickly determined by the touch of the hand skin and pressed.

[0098] For example, in some embodiments, the first identifier is a difference in roughness. Specifically, the difference in roughness between the second side surfaces of the first plate and the second plate is greater than a preset threshold, so that there is a significant difference in the contact feel of the first plate and the second plate, so that the user can feel the difference between the first plate and the second plate with a single finger (such as a doctor can easily distinguish the corresponding positions of the first plate and the second plate by clamping the index finger or middle finger on the second clamping plate).

[0099] For another example, in some embodiments, the first mark is a height difference. Specifically, a protrusion may be provided between the first plate and the second plate to assist the user to quickly distinguish the positions of the first plate and the second plate by fingers. Alternatively, in some embodiments, there is a thickness difference between the thickness of the first plate and the thickness of the second plate to assist the user to quickly distinguish the first plate and the second plate by their thickness (or height).

[0100] Preferably, in some embodiments, at least one second mark is provided on the knotting device to distinguish the first clamping plate from the second clamping plate, that is, to assist the user to quickly distinguish the left and right positions during use through visual or tactile perception.

[0101] For example, in some embodiments, the second mark may be a color representation provided on at least one side of the outer side of the first rod (eg, the first clamping plate or one side of the first clamping plate is coated with a color different from the main body, such as yellow).

[0102] For another example, in some embodiments, the second representation may be a physical mark provided on at least one side of the outer side surface of the first rod, such as a frosted area provided on one side.

[0103] In some embodiments, Figure 6 and Figure 7 As shown, the fixing member 131 includes: a first connecting member 1311, a second connecting member 1312 and a third connecting member 1313 which are sequentially connected end to end.

[0104] For example, in some embodiments, at least one first mounting hole is provided on the first connecting member, and at least one second mounting hole is correspondingly provided on the second area and / or the third area. The first connecting member 1311 can be fixed in the second area and / or the third area by bolts passing through the first mounting hole and the second mounting hole.

[0105] For example, in some embodiments, Figure 6 As shown, when the fixing member 131 is installed on the first rod, a third angle α3 is formed between the side edge (specifically, the first side edge) of the second connecting member 1312 and the first rod, with the opening facing outward (i.e., the opening faces the side opposite to the side wall of the first rod, or the side of the clamping member), and the third angle is an obtuse angle, so that the first side edge forms a slope area. The side edge refers to the side of the connecting member (or fixing member) away from the side of the first rod.

[0106] The slope design in this embodiment can provide the operator with a relatively wide hand operation space II, so as to adapt to the finger sizes of different operators (such as fingers of different thicknesses and lengths), and a single finger (such as the index finger or middle finger, etc.) can exert force more easily with the assistance of the slope design.

[0107] For example, in some embodiments, the cross-section of the hand operation space II is designed in an inverted trapezoidal shape, or a geometric design similar to an inverted trapezoidal structure.

[0108] Specifically, in some embodiments, the clamping area outside the first clamping plate, the side wall of the second area (or the area adjacent to the second and third areas) and the side edge of the fixing member (such as the first side edge) together form the first hand operation space II1. The clamping area outside the second clamping plate, the side wall of the second area and the side edge of the fixing member together form the second hand operation space II2. The operator can place two fingers of a single hand in the first and second hand operation spaces respectively to perform operations such as the single-hand clamping device and knot pushing.

[0109] Therefore, the embodiment of the present invention can allow the user to perform operations such as finger clamping and finger sliding in the hand operation space II without increasing the length of the automatic knotting device. In addition, the clamping plate and the first side edge form a relative slope, which can provide the user with a better force point (i.e., labor saving); at the same time, the slope design can also fix the fingers to a certain extent, avoiding accidents caused by the device slipping during the operation.

[0110] like Fig. 9 As shown, when the operator presses the index finger and the middle finger on the first and second hand operation spaces respectively, when the fingers move forward (that is, when moving along the pushing direction Y), force can be applied in the direction indicated by the arrow to press down the fixing part. When the fingers move backward, force can be applied in the direction of the arrow to press up the clamping part to release the first line segment A or relax the second line segment B.

[0111] In some embodiments, the first, second and third connectors may be integrally formed.

[0112] In some embodiments, Figure 6 , 7 As shown, the side of the second connecting member 1312 includes: a first side 1312a, a second side 1312b and a third side 1312c connected end to end in sequence, wherein the head end of the first side and the tail end of the third side are connected to the first connecting member and the second connecting member respectively. In this embodiment, a three-section side coordinated design is adopted, and the fixing member is integrated with a labor-saving function, a knot-threading function and a knot-pushing auxiliary function.

[0113] In some embodiments, the first angle α1 formed between the first side and the second side with the opening facing inward (i.e., the direction facing the side wall of the first rod), and the second angle α2 formed between the second side and the third side with the opening facing inward are both obtuse angles. Moreover, when the fixing member is disposed on the first rod and is in the initial state, the height of the second side gradually decreases from its head end to its tail end, and the height of the third side also gradually decreases from its head end to its tail end. The height gradient design of the second connecting member of this embodiment can, on the one hand, meet the requirement of winding a coil of a certain diameter in a fixed area (such as the knot-threading space I) (in other words, the height design of the fixing member can assist the operator in evaluating the number and size of the coils wound during the knot-threading process); on the other hand, it can also smoothly push the coil away from the fixing member after the coil winding is completed.

[0114] In some embodiments, the first angle is smaller than the second angle to further reduce the resistance of the coil leaving the fixing member.

[0115] In some embodiments, Figure 8As shown, the side (or side surface, i.e., the side away from the first rod) of the third connecting member 1313 includes, from its head end to its tail end, a first curved surface and a second curved surface connected in sequence. The slope of the first curve C1 formed by the cross section of the first curved surface decreases to zero in sequence along the direction from its head end to its tail end, and then gradually increases. The opening direction of the second curve C2 formed by the cross section of the second curved surface is opposite to the opening direction of the first curve C1, and the second curved surface C2 is preferably set as a smooth curve.

[0116] In the embodiment of the present invention, the first and second curved surfaces which are continuously arranged can limit the through-junction space I to a certain extent (preferably, the through-junction space I is as follows: Figure 5 The coil position in the figure is shown in FIG. 1 ), that is, the coil is shrunk as much as possible in the middle area of ​​the fixing part to avoid the coil being too loose. Moreover, when the knot needs to be pushed, the smooth second curved surface will not produce undue resistance to the coil.

[0117] like Figure 6 As shown, in some embodiments, a mounting groove 132 for mounting the fixing member 131 is further provided in the third region 13, and a first side wall and a second side wall are provided on both sides of the mounting groove 132. The side edges of the first and second side walls include: a fourth side edge 132a and a fifth side edge 132b connected in sequence from head to tail, and the height of the fifth side edge 132b (i.e., the distance between each point in the fifth side edge and the side wall of the first rod) gradually decreases from the head end to the tail end, so that when the fixing member 131 gradually extends into the mounting groove 132 under the action of the corresponding external force, the highest point of the third connecting member is recovered into the space of the mounting groove 132 (e.g., the height of the highest point of the second curved surface is less than the height of each point on the fifth side edge), so as to avoid the third connecting member from blocking the coil.

[0118] In some embodiments, the cavity or the first rod is configured in a cylindrical shape.

[0119] In some embodiments, the pushing portion may be linear, or the pushing portion may be provided with a certain curvature so that the pushing portion can hook the suture.

[0120] In some embodiments, the end of the pushing portion away from the first rod is configured as a curved structure. For example, the axis of the pushing portion (specifically the curved structure) is designed as a curve with a certain curvature.

[0121] For example, in some embodiments, the axis of the curved structure is an arc or a quasi-arc, and the length of the arc is less than or equal to one quarter of a circle, so as to prevent the coil from being wrapped around the pushing part during the knot pushing process.

[0122] The quasi-circular arc refers to a curve structure with the same or similar curvature or slope change trend as a circular arc. For example, the quasi-circular arc may be a partial line segment of an ellipse.

[0123] In some embodiments, the fixing member may be a spring clip. Specifically, two spring clips are symmetrically mounted on both sides of the third operating area.

[0124] In some embodiments, a stopper 22 is disposed at the second end of the second rod to limit the travel of the second rod 2 during the reciprocating motion.

[0125] For example, in some embodiments, the diameter of the blocking member is larger than the diameter of the cavity so as to limit the second rod.

[0126] In some embodiments, the first rod and the second rod are both arranged in a straight line.

[0127] In some embodiments, the first rod and the second rod are equal or approximately equal in length.

[0128] In some embodiments, the length of the first rod is approximately 12-15 cm.

[0129] In some embodiments, the method for knotting using the automatic knotting device in any of the above embodiments comprises the steps of:

[0130] S101 causes the pushing portion to retreat or remain in the second area, so as to reserve a through-knot space I between the pushing portion 21 and the fixing member 131;

[0131] S102 fixes the first line segment A of the suture by using the first clamping member;

[0132] S103 uses the second line segment B of the suture to wrap around at least one loop on the knot-threading space I, and makes the first line segment A wrapped inside;

[0133] S104: passing the active end of the second line segment B through the suture, so that the second line segment B goes around the coil wound in S103 and passes out of the coil, so that the coil is initially knotted;

[0134] S105 pushes the second rod to move along the knot-pushing direction, so as to use the pushing part to drive the coil to move and push the coil away from the first rod.

[0135] It is worth noting that the above steps S101-S105 can be completed on the side away from the suture part, such as outside the mouth.

[0136] In some embodiments, S105 includes the steps of:

[0137] Pressing a first finger into a first hand operation space formed between the first clamping member and the corresponding fixing member, and pressing a second finger into a second hand operation space formed between the second clamping member of the first rod and the corresponding fixing member;

[0138] Move the first finger and / or the second finger in the knot-pushing direction to press at least one fixing member and rotate it in a direction close to the first axis;

[0139] And push the second rod to move along the knot-pushing direction, so that the wound coil can gradually escape from the knot-piercing space I, the fourth area, and then be pushed away from the first rod.

[0140] In some embodiments, the method further comprises the step: S106 of pulling the second wire segment B so that the coil is tightened into a knot under the corresponding pulling action.

[0141] It is worth noting that the purpose of the present invention is not to complete the entire knotting process through an automatic knotting device, but mainly to use the knotting device to solve the processes of threading and pushing the knot, and leave the knot tightening process to manual control by the operator, using the dexterity of the operator's fingers to control the tightness of the knot, avoiding excessive or insufficient tension that causes misalignment of the wound and affects the quality of suture.

[0142] The following is an exemplary operation process of the automatic knotting device in the present application. For example, the user can use the automatic knotting device to tie a knot with one hand by using a three-finger operation method or a two-finger operation method. The specific process is as follows:

[0143] Step 1) When the automatic knotting device is in an initial state, a knotting space I is reserved between the pushing portion 21 and the fixing member;

[0144] Step 2) fixing the first line segment A reserved on one side of the suture portion on the first clamping member 111;

[0145] Step 3) driving the second line segment B passing through the other side of the suture portion to wrap around at least one loop in the knot-piercing space I (such as the side of the fixing member), and the loop also wraps around the first line segment A;

[0146] Step 4) After the coil is wound, the movable end of the second wire segment B (i.e., the end with the needle) is passed through the gap 16 using a needle to wrap the wound coil;

[0147] Step 5) Fixing the second line segment B at the second clamping member;

[0148] Step 6) The operator uses two fingers (such as the index finger and the middle finger) of one hand to press / clamp the two hand operation spaces II (such as the side wall of the second area at this time);

[0149] Step 7) The operator uses another finger (such as the thumb) of the same hand, or the palm of the hand to press against the second end of the second rod and push the second rod toward the first end of the first rod. At this time, the pushing part 21 pushes the wound coil to separate from the first rod;

[0150] Step 8) After the loop is detached from the first rod, the user can use the middle finger to press the second clamping member to cancel the clamping effect on the second wire segment B, and use the other hand to pull the second wire segment B to tighten the knot.

[0151] If you need to tie more knots, repeat the above steps.

[0152] In some embodiments, the needle may be a suture needle with an arc-shaped structure. During step 4, the arc-shaped structure of the needle may be utilized to pass the thread through the gap to bypass the coil.

[0153] It can be understood that one of the preferred application scenarios of the present invention is the suturing process in which the operating space is relatively narrow, such as intraoral surgery. For example, during intraoral surgery, the present invention can not only take advantage of the surgeon's flexible fingers, so that the tightness of the knot can be controlled by the operator's feel, thereby avoiding excessive or insufficient tension on the wound, which causes uneven alignment of the wound, leading to poor wound healing, obvious scars and other adverse consequences. At the same time, it can also take advantage of the fingers to realize one-handed operation of the automatic knotting device (such as providing a knot threading space I and a hand operation space II on the first rod of limited volume), so that the operator can complete difficult steps such as knot threading and knot pushing in vitro, avoiding the knotting process from having an adverse effect on the suture part (that is, the winding operation can be completed outside the mouth, reducing the discomfort of the patient during the intraoral operation).

[0154] Generally speaking, oral and maxillofacial injuries require timely wound suturing. First, this is because the area is densely populated with nerves and rich in blood vessels; second, the patient's trauma is too severe, which can easily lead to a variety of other symptoms in addition to wound pain, such as confusion and shock, and the possibility of wound infection is high. At this time, if the doctor handles it improperly (such as suturing errors), it may cause secondary damage to the patient.

[0155] In the suturing procedure, knotting is used to make a buckle to fix the suture and prevent it from loosening. It is one of the most important operations in suturing and also the operation that takes up the longest time in the whole operation. The speed and quality of knotting determine the length of the operation time and the effect. Too slow speed often delays the operation time. Inaccurate methods (false knots, slipping knots) and low quality can easily cause slippage and even cause postoperative bleeding, bringing unnecessary pain to patients.

[0156] The automatic knotting device in the present invention can assist the operator to complete key processes such as threading and pushing knots at a side far from the suture part such as the wound, that is, outside the mouth, by using the doctor's hands and the automatic knotting device without the help of other tools (such as surgical manipulators such as laparoscopes). On the one hand, it enables the doctor to obtain a better in vitro observation line of sight and facilitates the operation; on the other hand, it reduces the risk of secondary damage to the wound during the suture process.

[0157] It is understandable that the automatic knotting device of the present invention can be used in conjunction with other automated surgical equipment (such as suturing equipment) to improve the automation of the knotting process to a certain extent.

[0158] Alternatively, the automatic knotting device of the present invention may also be manually operated so that the knot is automatically formed during the knot-pushing process by means of the automatic knotting device.

[0159] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0160] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An automatic knotting device, characterized in that: include: A first rod (1), wherein the first rod (1) is provided with a first area (11), a second area (12), a third area (13) and a fourth area (14) in sequence from the first end to the second end; a cavity (15) is provided inside the first rod, the cavity passes through the first, second, third and fourth areas in sequence, and a slit (16) connected to the cavity (15) is further provided on the outer side of the first rod, the slit passes through the second, third and fourth areas in sequence; wherein: A first clamping member (111) is provided outside the first region (11) for clamping a suture; The third region (13) is provided with at least one fixing member (131) for assisting in winding the suture into a coil; wherein the fixing member (131) can rotate relative to the first axis (L1) of the first rod, and when the fixing member (131) rotates in a direction close to the first axis, the height of the fixing member (131) gradually decreases; wherein the height refers to the distance between the side of the fixing member away from the first rod or at least one point on the side and the first rod; and a second rod (2), wherein a first end of the second rod is provided with a pushing portion (21) for pushing the coil wound on the fixing member; when the first end of the second rod extends into the first rod through the cavity, the pushing portion (21) protrudes outward through the slit (16), and the second rod can perform a reciprocating motion along the direction of the first axis of the cavity under the action of an external force; In which, when the automatic knotting device is in a knotting state, the pushing part can be pushed or maintained in the second area under the drive of the second rod, so that the pushing part cooperates with the fixing part to form a knotting space I, so that the suture can be wound around at least one coil in the knotting space I.

2. An automatic knotting device according to claim 1, characterized in that: The first clamping member (111) comprises: a first clamping plate (111a), and a first rotating shaft (111b) arranged outside the first rod, and the first clamping plate is rotatably connected to the first rod via the first rotating shaft; wherein the first clamping plate is in a clamping state when not acted upon by an external force, and when the first clamping plate is acted upon by an external force, the first clamping plate will gradually change from the clamping state to a non-clamping state; a clamping area is arranged on the second side surface of the first clamping plate (111a) for at least one finger of an operator to perform a clamping or pressing operation; and / or, A second clamping member (112) is further provided on a side of the first region opposite to the first clamping member, and the second clamping member (112) comprises: a second clamping plate (112a), and a second rotating shaft (112b) provided on the outside of the first rod, and the second clamping plate (112a) is rotatably connected to the first rod via the second rotating shaft (112b); wherein the second clamping plate is in a clamping state when not acted upon by an external force, and when the second clamping plate is acted upon by an external force, the second clamping plate will gradually change from the clamping state to a non-clamping state.

3. An automatic knotting device according to claim 2, characterized in that: The second clamping plate (112a) comprises: a first plate (112a-1) and a second plate (112a-2) connected to each other, and the first side surfaces of the first plate and the second plate are respectively arranged toward the side surface of the first rod, and form a first clamping interval and a second clamping interval with the side surface of the first rod respectively; when the suture is clamped in the first clamping interval, the minimum force that enables the suture to overcome the clamping effect of the first plate (112a-1) and move relatively is a second tension f2; when the suture is clamped in the second clamping interval, the minimum force that enables the suture to overcome the clamping effect of the second plate (112a-2) and move relatively is a third tension f3, and the third tension f3 is greater than the second tension f2.

4. An automatic knotting device according to claim 3, characterized in that: A first mark for differentiating the physical touch of the first plate and the second plate is disposed on the second side surfaces of the first plate and the second plate.

5. The automatic knotting device according to claim 1, characterized in that: The fixing member (131) comprises: a first connecting member (1311), a second connecting member (1312) and a third connecting member (1313) which are connected in sequence end to end; and when the fixing member (131) is installed on the first rod, a third angle opening outward is formed between the side of the second connecting member (1312) and the first rod, and the third angle is an obtuse angle, so that the side of the second connecting member (1312) forms a slope area; and the slope area, the side wall of the second area and the clamping area outside the clamping plate together form a hand operation space II, so that at least one finger of the operator can clamp the automatic knotting device through the hand operation space II; wherein the side refers to a side of the fixing member away from the side of the first rod.

6. An automatic knotting device according to claim 5, characterized in that: The side edges of the second connecting member (1312) include: a first side edge (1312a), a second side edge (1312b) and a third side edge (1312c) connected end to end in sequence, wherein a first angle with the opening facing inwards is formed between the first side edge and the second side edge, and a second angle with the opening facing inwards is formed between the second side edge and the third side edge, and both the first angle and the second angle are obtuse angles; and when the fixing member is disposed on the first rod and is in an initial state, the height of the second side edge gradually decreases from its head end to its tail end, and the height of the third side edge also gradually decreases from its head end to its tail end; and / or, The side of the third connecting member (1313) comprises, from its head end to its tail end, a first curved surface and a second curved surface connected to each other; wherein the slope of a first curve (C1) formed by a cross section of the first curved surface along the direction from its head end to its tail end gradually decreases to zero and then gradually increases.

7. An automatic knotting device according to claim 6, characterized in that: The first angle is smaller than the second angle; and / or, The opening direction of the second curve (C2) formed by the cross section of the second curved surface is opposite to the opening direction of the first curve (C1), and the second curve (C2) is a smooth curve; And / or, the third region (13) is further provided with an installation groove (132) for installing the fixing member (131), and the first side wall and the second side wall are arranged opposite to each other on both sides of the installation groove (132); wherein the side edges of the first and second side walls both include: a fourth side edge (132a) and a fifth side edge (132b) connected in sequence end to end, and the height of the fifth side edge (132b) gradually decreases from the head end to the tail end, so that when the fixing member (131) is gradually rotated into the installation groove (132) under the action of a corresponding external force, the highest point of the third connecting member is recovered into the space of the installation groove (132), so as to avoid the third connecting member from blocking the coil.

8. An automatic knotting device according to claim 1, characterized in that: One end of the pushing portion away from the first rod is configured as a bent structure.

9. An automatic knotting device according to any one of claims 1 to 8, characterized in that: The method for knotting using the automatic knotting device comprises the following steps: S101 causes the pushing portion to retreat or remain at the second area, so as to reserve a knot-piercing space I between the pushing portion (21) and the fixing member (131); S102 fixes the first line segment A of the suture by using the first clamping member; S103 uses the second line segment B of the suture to wrap around at least one loop on the knot-threading space I, and makes the first line segment A wrapped inside; S104: passing the active end of the second line segment B through the suture, so that the second line segment B goes around the coil wound in S103 and passes out of the coil, so that the coil is initially knotted; S105 pushes the second rod to move along the knot-pushing direction, so as to use the pushing part to drive the coil to move and push the coil away from the first rod.

10. The automatic knotting device according to claim 9, characterized in that: The S105 comprises the steps of: Pressing a first finger into a first hand operation space formed between the first clamping member and the corresponding fixing member, and pressing a second finger into a second hand operation space formed between the second clamping member of the first rod and the corresponding fixing member; Move the first finger and / or the second finger in the knot-pushing direction to press at least one fixing member and rotate it in a direction close to the first axis; and pushing the second rod to move along the knot-pushing direction, so that the wound coil can gradually escape from the knot-piercing space I and the fourth area and then be pushed away from the first rod; and / or, The method further comprises the step: S106 of pulling the second wire segment B so that the coil is tightened into a knot under the corresponding pulling action.

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