Autonomous suturing instrument

Abstract

The present disclosure provides an autonomous suturing instrument, comprising: a sleeve body; a suturing device, comprising: a main body part rotatably arranged at one end of the sleeve body; and a suturing needle; a locking mechanism movably arranged at one end of the main body part, having a locking state and a release state, the locking mechanism being configured to drive the suturing needle to move when in the locking state; a housing having a first accommodating space, the housing being arranged at the other end of the sleeve body; and a suturing rotating assembly arranged in the first accommodating space and connected with the locking mechanism, the suturing rotating assembly comprising: a first driving mechanism; a linear reciprocating motion mechanism connected with the first driving mechanism, the linear reciprocating motion mechanism reciprocating in response to rotation of the first driving mechanism; and a first rotating mechanism in transmission connection with the linear reciprocating motion mechanism and the locking mechanism respectively, when the linear reciprocating motion mechanism reciprocates, the linear reciprocating motion mechanism drives the first rotating mechanism to reciprocate rotationally, so as to drive the suturing needle to complete a suturing operation.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to the field of medical devices, and more particularly to an autonomous suturing device for a minimally invasive surgical robot. Background Technology

[0002] Currently, when performing suturing tasks in robot-assisted minimally invasive surgery, at least two robotic arms are required, each equipped with two needle-holding instruments, to work together to clamp the needle and perform the suturing operation. This method has a complex suturing logic, places high demands on the robot's scene perception and collaborative capabilities, is not conducive to the robot's autonomous understanding of suturing actions, and is also prone to needle drop accidents, posing certain safety hazards. Furthermore, it prolongs the operation time, hindering the development of autonomous suturing technology in medical robots.

[0003] This invention provides an autonomous suturing device that simplifies the suturing logic, requiring only one robotic arm to complete the suturing action. At the same time, it simplifies the motor drive method for the suturing action, making the control logic of the autonomous suturing device simpler and more reliable, and more conducive to the development of autonomous suturing by medical robots. Summary of the Invention

[0004] To address the problems of existing technologies, this disclosure provides an autonomous suturing device. A suturing rotation assembly can be used to control the reciprocating movement of the locking mechanism relative to the main body, thereby driving the suturing operation to be completed.

[0005] This disclosure addresses existing technical problems by providing an autonomous suturing instrument, comprising: a sheath; a suturing device including: a main body rotatably disposed at one end of the sheath; and a suture needle; a locking mechanism movably disposed at one end of the main body, having a locked state and a released state, the locking mechanism being configured to drive the suture needle to move in the locked state; a housing having a first receiving space, the housing being disposed at the other end of the sheath; and a suturing rotation assembly disposed within the first receiving space and connected to the locking mechanism, the suturing rotation assembly including: a first drive mechanism; a linear reciprocating motion mechanism driven by the first drive mechanism, the linear reciprocating motion mechanism responding to the rotational reciprocating movement of the first drive mechanism; and a first rotation mechanism driven by both the linear reciprocating motion mechanism and the locking mechanism, wherein when the linear reciprocating motion mechanism reciprocates, the linear reciprocating motion mechanism drives the first rotation mechanism to reciprocate, thereby driving the suture needle to complete the suturing operation.

[0006] In some embodiments, the suture rotation assembly further includes: two first drive wires, one end of which is wound around the first rotation mechanism in opposite directions, and the other end of which is fixed to the locking mechanism in opposite directions. When the first rotation mechanism reciprocates, the first drive wires drive the locking mechanism to reciprocate.

[0007] In some embodiments, a swaying assembly is further included, disposed in the first receiving space. The swaying assembly includes: a second driving mechanism; a second rotating mechanism connected to the second driving mechanism and rotating with the second driving mechanism; and two second driving wires, one end of which is wound around the second rotating mechanism in opposite directions, and the other end of which is fixed to the main body in opposite directions. When the second rotating mechanism rotates, the second driving wires drive the suturing device to sway, thereby adjusting the angle of the suturing device.

[0008] In some embodiments, the linear reciprocating motion mechanism includes: a movable member, including: a base extending along the moving direction of the linear reciprocating motion mechanism; and an extension plate extending perpendicular to the moving direction of the linear reciprocating motion mechanism; and a first limiting component forming a limiting groove, the movable member being disposed on the limiting groove, the limiting groove being configured to prevent the movable member from moving in a direction perpendicular to the moving direction of the linear reciprocating motion mechanism.

[0009] In some embodiments, the first rotating mechanism includes: a first gear meshing with the teeth of the base, the first gear reciprocating under the drive of the base; a sewing drive shaft connected to the first gear, the sewing drive shaft reciprocating following the first gear; and two sewing drive wheels sleeved on the sewing drive shaft, two first drive wires respectively wound around the sewing drive wheels in opposite directions, the first drive wires winding or unwinding the sewing drive wheels when the sewing drive shaft drives the sewing drive wheels to drive the locking mechanism to reciprocate.

[0010] In some embodiments, the second rotating mechanism includes: a rotating drive shaft connected to the second driving mechanism via the third limiting block, the rotating drive shaft rotating with the second driving mechanism; and two rotating drive wheels sleeved on the rotating drive shaft, two second drive wires wound around the rotating drive wheels in opposite directions, the second drive wires winding around or unwinding the rotating drive wheels when the rotating drive shaft drives the rotating drive wheels to rotate, thereby driving the sewing device to swing.

[0011] In some embodiments, the yaw assembly further includes a third limiting block connected to the second drive mechanism, the third limiting block being configured to cooperate with a protrusion of the housing to limit the rotation angle of the second drive mechanism.

[0012] In some embodiments, the stitching rotation assembly further includes a first guide assembly, the first guide assembly including: a first guide shaft disposed within the housing; and two first guide wheels respectively sleeved on the first guide shaft, the two first drive wires being respectively connected to the locking mechanism via the first guide wheels.

[0013] In some embodiments, the yaw assembly further includes a second guide assembly, the second guide assembly including: a second guide shaft disposed within the housing; and two second guide wheels respectively sleeved on the second guide shaft, and two second drive wires respectively connected to the main body via the second guide wheels.

[0014] In some embodiments, the suture needle is threaded through the locking mechanism. When the suture rotation assembly drives the locking mechanism to move forward, the locking mechanism is in a locked state, driving the suture needle to move forward to complete one forward movement operation of the suture needle. When the suture rotation assembly drives the locking mechanism to move in the opposite direction, the locking mechanism is in a released state to prepare for the next forward movement operation of the suture needle.

[0015] In some embodiments, the suturing device further includes a transmission mechanism, comprising: two guide portions respectively mounted on the other end of the main body portion, each guide portion forming a guide groove, the center lines of the two guide grooves being parallel in the same vertical plane, and the first drive wire being connected to the locking mechanism via the guide grooves respectively.

[0016] According to the embodiments of this disclosure, the rotation of the first drive mechanism can be converted into reciprocating movement by the linear reciprocating motion mechanism, and the reciprocating movement of the linear reciprocating motion mechanism can be converted into reciprocating rotation by the first rotation mechanism, thereby driving the locking mechanism to reciprocate. By using the locking mechanism to drive the suture needle to move multiple times in the locked state, the suturing operation can be completed. There is no need to alternately operate two needle holders, so the suturing operation can be completed more easily, and the suturing accuracy is high. Attached Figure Description

[0017] Figure 1 A perspective view of a robot equipped with an autonomous suturing instrument according to an embodiment of the present disclosure is shown schematically.

[0018] Figure 2 A perspective view of an autonomous suturing device according to an embodiment of the present disclosure is shown schematically;

[0019] Figure 3 An exploded view of an autonomous suturing device according to an embodiment of the present disclosure is shown schematically;

[0020] Figure 4 An exploded view of the stitching rotation assembly according to an embodiment of the present disclosure is shown schematically;

[0021] Figure 5 A perspective view of a suturing apparatus according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 6 An exploded view of a suturing apparatus according to an embodiment of the present disclosure is shown schematically;

[0023] Figure 7 A perspective view of the main body according to an embodiment of the present disclosure is shown schematically;

[0024] Figure 8 A schematic cross-sectional view of a suturing apparatus according to an embodiment of the present disclosure is shown, in which suture needles are not shown;

[0025] Figure 9 A schematic cross-sectional view of a locking mechanism according to an embodiment of the present disclosure is shown, in which a suture needle is illustrated;

[0026] Figure 10 A perspective view of a slider according to an embodiment of the present disclosure is shown schematically;

[0027] Figure 11 A perspective view of a locking block according to an embodiment of the present disclosure is shown schematically;

[0028] Figure 12 A schematic diagram illustrating the connection relationship between the locking mechanism and the suture needle according to an embodiment of the present disclosure is shown.

[0029] Figure 13 A perspective view of the cover according to an embodiment of the present disclosure is shown schematically;

[0030] Figure 14 This schematic diagram illustrates the state of the locking mechanism driving the suture needle to slide forward after the locking mechanism has locked the suture needle.

[0031] Figure 15 This schematic diagram illustrates the state of the locking mechanism sliding in the reverse direction after the locking mechanism releases the suture needle;

[0032] Figure 16 A perspective view schematically illustrating the connection between the anti-needle retraction mechanism and the suture needle according to an embodiment of the present disclosure;

[0033] Figure 17 A schematic cross-sectional view of a transmission mechanism according to an embodiment of the present disclosure is shown, illustrating the main body and the cover.

[0034] Figure 18 An exploded view of a yaw assembly according to an embodiment of the present disclosure is shown schematically;

[0035] Figures 19 to 26 The diagram illustrates a suture state during a suture operation according to an embodiment of the present disclosure.

[0036] Figure Labels

[0037] 1: Suturing device;

[0038] 11: Main body;

[0039] 111: First groove;

[0040] 112: Mounting slot;

[0041] 113: Guide rail;

[0042] 114: Mounting hole;

[0043] 12: Cover;

[0044] 121: convex platform;

[0045] 1211: First needle insertion slope;

[0046] 1212: First row of needle plane;

[0047] 1213: First needle withdrawal bevel;

[0048] 122: Motherboard;

[0049] 13: Locking mechanism;

[0050] 131: Slider;

[0051] 1311: I-shaped structure;

[0052] 1312: U-shaped structure;

[0053] 132: Locking block;

[0054] 1321: Second groove;

[0055] 1322: Second needle insertion bevel;

[0056] 1323: Second row needle plane;

[0057] 1324: Second needle-removal bevel;

[0058] 1325: Third row of needle plane;

[0059] 1326: Slope;

[0060] 1327: Rotary shaft;

[0061] 133: Receiving tank;

[0062] 134: Elastic component;

[0063] 135: Supporting platform;

[0064] 136: Limiting beam;

[0065] 14: Suture needle;

[0066] 15: Transmission mechanism;

[0067] 151: Guiding section;

[0068] 1511: Guide groove;

[0069] 1512: Central axis;

[0070] 1513: Center wheel;

[0071] 152: Transition wheel;

[0072] 16: Anti-needle retraction mechanism;

[0073] 161: Pin holder;

[0074] 1611: Fixing part;

[0075] 1612: Extension;

[0076] 162: Shrapnel;

[0077] 2: Shell:

[0078] 21: First containment space;

[0079] 22: Protrusion;

[0080] 23: Motor base;

[0081] 24: Lower base;

[0082] 25: Mounting bracket;

[0083] 26: Support plate;

[0084] 27: Top plate;

[0085] 28: Cover;

[0086] 3: Stitching rotating assembly;

[0087] 31: First drive mechanism;

[0088] 311: First motor;

[0089] 312: First pivot;

[0090] 3121: Limit pin;

[0091] 32: Linear reciprocating motion mechanism;

[0092] 321: Moving parts;

[0093] 3211: Base;

[0094] 3212: Extension plate;

[0095] 32121: First moving hole; 322: First limiting component;

[0096] 3221: Limiting groove;

[0097] 3222: Limit plate;

[0098] 32221: Second moving hole; 3223: First limiting block;

[0099] 3224: Second limit block;

[0100] 33: First rotating mechanism;

[0101] 331: First gear;

[0102] 332: Stitching drive shaft;

[0103] 333: Stitching drive wheel;

[0104] 334: First clamping block;

[0105] 34: First driving wire;

[0106] 341: Part One;

[0107] 342: Part Two;

[0108] 35: First guiding component;

[0109] 351: First guide shaft;

[0110] 352: First guide wheel; 4: Oscillator assembly:

[0111] 41: Second drive mechanism:

[0112] 42: Second rotating mechanism;

[0113] 421: Rotate the drive shaft;

[0114] 422: Rotate the drive wheel;

[0115] 423: Second clamping block;

[0116] 43: Second drive wire;

[0117] 44: Third limit block:

[0118] 45: Second guide component:

[0119] 451: Second guide shaft:

[0120] 452: Second guide wheel;

[0121] 5: Cover body;

[0122] 51: Sleeve;

[0123] 52: Connector;

[0124] 521: Oscillating groove;

[0125] 522: Pin hole. Detailed Implementation

[0126] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0127] The present disclosure describes structural embodiments and methods. It should be understood that this is not intended to limit the present disclosure to the specific embodiments disclosed, and the present disclosure can be implemented using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0128] In the description of this disclosure, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings and is only for the convenience of describing this disclosure and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this disclosure; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0129] In the description of this disclosure, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this disclosure.

[0130] Figure 1 A perspective view of a robot equipped with an autonomous suturing instrument according to an embodiment of the present disclosure is shown schematically.

[0131] like Figure 1As shown, the autonomous suturing instrument 100 is mounted on the robot 200. The robot 200 can control the position of the autonomous suturing instrument 100, thereby enabling the autonomous suturing instrument 100 to move up, down, left, right, forward, and backward, and thus adjust the initial alignment of the end of the autonomous suturing instrument 100 with the surgical surface.

[0132] Figure 2 A perspective view of an autonomous suturing device according to an embodiment of the present disclosure is shown schematically. Figure 3 An exploded view of an autonomous suturing device according to an embodiment of the present disclosure is shown schematically. Figure 4 An exploded view of the stitching rotation assembly according to an embodiment of the present disclosure is shown schematically.

[0133] like Figures 1 to 4 As shown, this disclosure proposes an autonomous suturing device. The autonomous suturing device includes a suturing device 1, a housing 2, a suturing rotation assembly 3, a yaw assembly 4, and a sleeve 5.

[0134] Specifically, the suturing device 1 includes a main body 11, a cover 12, a locking mechanism 13, a suture needle 14, a transmission mechanism 15, and an anti-needle-retraction mechanism 16. The main body 11 is rotatably disposed at one end of the sleeve 5. The locking mechanism 13 is movably disposed at one end of the main body 11, and has a locked state and a released state. The locking mechanism 13 is configured to drive the suture needle 14 to move when locked. The housing 2 has a first receiving space 21, and the housing 2 is disposed at the other end of the sleeve 5. The suturing rotation assembly 3 is disposed within the first receiving space 21 and connected to the locking mechanism 13. The suturing rotation assembly 3 includes a first drive mechanism 31, a linear reciprocating motion mechanism 32, and a first rotation mechanism 33. The linear reciprocating motion mechanism 32 is connected to the first drive mechanism 31, and the linear reciprocating motion mechanism 32 reciprocates in response to the rotation of the first drive mechanism 31. The first rotating mechanism 33 is connected to the linear reciprocating motion mechanism 32 and the locking mechanism 13 respectively. When the linear reciprocating motion mechanism 32 moves back and forth, it drives the first rotating mechanism 33 to rotate back and forth, thereby driving the suture needle 14 to complete the suturing operation. The autonomous suturing instrument is mounted on the robot through the housing 2.

[0135] According to the embodiments of this disclosure, the unidirectional rotation of the first drive mechanism 31 can be converted into the reciprocating movement of the linear reciprocating motion mechanism 32 by the linear reciprocating motion mechanism 32, and the reciprocating movement of the linear reciprocating motion mechanism 32 can be converted into the reciprocating rotation of the first rotation mechanism 33 by the first rotation mechanism 33, thereby driving the locking mechanism 13 to reciprocate. By using the locking mechanism 13 to drive the suture needle 14 to move multiple times in the locked state, the suturing operation can be completed by relying on only a single robot 200, without the need to alternately operate the two needle holders installed on two robots, and without changing the rotation direction of the suturing drive motor. The suturing operation can be completed more easily, and the suturing control logic is simplified, resulting in high suturing accuracy.

[0136] In some embodiments, the suture needle 14 is mounted on the locking mechanism 13. When the suture rotation assembly 3 drives the locking mechanism 13 to move forward, the locking mechanism 13 is in a locked state, and the locking mechanism 13 drives the suture needle 14 to move forward to complete one forward movement operation of the suture needle 14. When the suture rotation assembly 3 drives the locking mechanism 13 to move in the opposite direction, the locking mechanism 13 is in a released state, and the reverse movement of the locking mechanism 13 will not drive the suture needle 14 to move, in preparation for the next forward movement operation of the suture needle 14.

[0137] like Figures 1 to 4 As shown, in some embodiments, the stitching rotation assembly 3 further includes two first drive wires 34. One end of each first drive wire 34 is wound around the first rotation mechanism 33 in opposite directions, and the other end is fixed to the locking mechanism 13 in opposite directions. When the first rotation mechanism 33 reciprocates, the first drive wires 34 drive the locking mechanism 13 to reciprocate along the main body 11.

[0138] In some embodiments, the first drive mechanism 31 includes a first motor 311 and a first rotating shaft 312. The first rotating shaft 312 is connected to the output shaft of the first motor 311, and a limit pin 3121 is formed on the first rotating shaft 312. The first drive mechanism 31 drives the moving member 321 to move through the limit pin 3121. The first motor 311 can be a geared motor.

[0139] In some embodiments, the linear reciprocating motion mechanism 32 includes a movable member 321 and a first limiting component 322. The movable member 321 includes a base 3211 and an extension plate 3212. The base 3211 extends along the moving direction of the linear reciprocating motion mechanism 32, and a plurality of evenly distributed teeth are formed on the base 3211. The extension plate 3212 is connected to the base 3211 and extends from the bottom of the base 3211 along a direction perpendicular to the moving direction of the linear reciprocating motion mechanism 32. A first moving hole 32121 extending along its extending direction is formed on the extension plate 3212, and a limiting pin 3121 passes through the first moving hole 32121. When the first driving mechanism 31 rotates, the limiting pin 3121 moves along the first moving hole 32121, thereby driving the movable member 321 in the horizontal direction (e.g., ...). Figure 4 It moves back and forth in the direction horizontal to the base 3211.

[0140] like Figure 4 As shown, the first limiting component 322 forms a limiting groove 3221, and the moving member 321 is disposed on the limiting groove 3221. The limiting groove 3221 is configured to prevent the moving member 321 from moving in a direction perpendicular to the linear reciprocating motion mechanism 32. Figure 4 As shown, the limiting plate 3222, the first limiting block 3223, and the second limiting block 3224 constitute the limiting groove 3221. A second moving hole 32221 is formed on the limiting plate 3222. The base 3211 is disposed on the limiting plate 3222, and the extension plate 3212 is disposed within the second moving hole 32221. The first limiting block 3223 is disposed on the limiting plate 3222 and abuts against the side of the extension plate 3212 away from the teeth. The second limiting block 3224 is disposed on the limiting plate 3222 and located on the side of the extension plate 3212 opposite to the first limiting block 3223. The second limiting block 3224 abuts against the end of the base 3211 away from the teeth. When the limiting pin 3121 drives the moving member 321 to move, the first limiting block 3223 and the second limiting block 3224 together prevent the moving member 321 from moving in a direction perpendicular to the base 3211.

[0141] In some embodiments, the first rotating mechanism 33 includes a first gear 331, a sewing drive shaft 332, two sewing drive wheels 333, and two first clamping blocks 334. The first gear 331 meshes with the teeth of the base 3211 and reciprocates under the drive of the base 3211. The sewing drive shaft 332 is connected to the first gear 331 and reciprocates with the first gear 331. The sewing drive wheels 333 are sleeved on the sewing drive shaft 332 through the first clamping blocks 334. Two first drive wires 34 are wound around the sewing drive wheels 333 in opposite directions. When the sewing drive shaft 332 drives the sewing drive wheels 333 to rotate, the first drive wires 34 wind around or unwind the sewing drive wheels 333 to drive the locking mechanism 13 to reciprocate. The sewing drive shaft 332 can be installed between the top and bottom of the housing 2 through bearings and retaining rings. The first motor 311 can be installed at the bottom of the housing 2 and located outside the housing 2. The suture rotation assembly 3 can convert the unidirectional rotational driving force of the first motor 311 into the reciprocating linear motion of the linear reciprocating motion mechanism 32, and the reciprocating linear motion of the linear reciprocating motion mechanism 32 into the reciprocating rotation of the first rotation mechanism 33, thereby driving the locking mechanism 13 to reciprocate, and thus driving the suture needle 14 to rotate. The first motor 311 can drive the locking mechanism 13 to reciprocate without changing the rotation direction, which reduces the control burden of the robot's autonomous suture. Moreover, the first motor 311 does not need to be set with a limit, avoiding the situation where the two first drive wires 34 break due to the rotation angle of the first motor 311 exceeding the range, making the robot's autonomous suture safer.

[0142] In some embodiments, the sewing rotating assembly 3 further includes a first guide assembly 35. The first guide assembly 35 may include a first guide shaft 351 and two first guide wheels 352. The first guide shaft 351 is disposed inside the housing 2. The two first guide wheels 352 are respectively sleeved on the first guide shaft 351, and the two first drive wires 34 are respectively connected to the locking mechanism 13 via the first guide wheels 352.

[0143] Figure 5 A perspective view of a suturing apparatus according to an embodiment of the present disclosure is shown schematically. Figure 6 An exploded view of a suturing apparatus according to an embodiment of the present disclosure is shown schematically. Figure 7 A perspective view of the main body according to an embodiment of the present disclosure is shown schematically. Figure 8 A schematic cross-sectional view of a suturing apparatus according to an embodiment of the present disclosure is shown, in which the suturing needle is not shown.

[0144] like Figures 1 to 8 As shown, the suturing device 1 includes a main body 11, a cover 12, a locking mechanism 13, a suture needle 14, and a transmission mechanism 15. One end of the main body 11 (as shown) Figures 5 to 8(As shown on the right side) A first annular groove 111 is formed. A cover 12 is disposed on the upper part of the main body 11 and forms a receiving space with the main body 11. A locking mechanism 13 is slidably embedded in the first groove 111, and the locking mechanism 13 has a locked state and a released state. A suture needle 14 is constructed as a semi-circular shape that matches the shape of the first groove 111, and the suture needle 14 passes through the locking mechanism 13. The tail of the suture needle 14 (as shown on the right side) Figures 5 to 8 A suture thread can be installed on the right side of the suture needle 14 shown.

[0145] Furthermore, the transmission mechanism 15 is configured to change the extension direction of the first drive wire 34 so that the first drive wire 34 extends from the first rotating mechanism 33 through the guide groove 1511 and the transition wheel 152 into the first groove 111 and connects with the locking mechanism 13. Simultaneously, the transmission mechanism 15 ensures that the first drive wire 34 is always at the center position of the sewing device 1 when it enters the sewing device 1 from the sleeve 5 (e.g., ...). Figure 8 (as shown in the horizontal center position) ensures that the stitching and swaying actions of the present invention are decoupled and do not interfere with each other.

[0146] According to the embodiments of this disclosure, the first driving wire 34 can drive the locking mechanism 13 to lock the suture needle 14. After the locking mechanism 13 locks the suture needle 14, the first driving wire 34 drives the locking mechanism 13 to move the suture needle 14 forward, thereby completing one forward movement operation of the suture needle 14. After completing one forward movement operation of the suture needle 14, the first driving wire 34 drives the locking mechanism 13 to release the suture needle 14. After the locking mechanism 13 releases the suture needle 14, the first driving wire 34 drives the locking mechanism 13 to slide in the reverse direction to prepare for the next forward movement operation of the suture needle 14. By repeatedly controlling the locking mechanism 13 to slide forward and in the reverse direction, and repeatedly controlling the movement of the suture needle 14, the suturing operation can be completed more easily, and there is no need to make grooves on the suture needle 14, thereby improving the safety of the robot autonomous suturing operation and reducing the processing cost of the suture needle 14.

[0147] Figure 9 A schematic cross-sectional view of a locking mechanism according to an embodiment of the present disclosure is shown, in which a suture needle is illustrated. Figure 10 A perspective view of a slider according to an embodiment of the present disclosure is shown schematically. Figure 11 A perspective view of a locking block according to an embodiment of the present disclosure is shown schematically. Figure 12 A schematic diagram illustrating the connection relationship between the locking mechanism and the suture needle according to an embodiment of the present disclosure is shown.

[0148] like Figures 5 to 12As shown, in some embodiments, the locking mechanism 13 includes a slider 131 and a locking block 132. The slider 131 is slidably embedded in the first groove 111. The locking block 132 is rotatably disposed on the slider 131 and elastically connected to the slider 131, such as... Figure 11 As shown, the locking block 132 is constructed in an L-shape, and the first end of the locking block 132 (as shown) Figure 11 The upper end of the locking block 132 slides into contact with the cover plate under the action of the slider 131, and the second end of the locking block 132 ( Figure 11 The lower end of the locking block 132 has a second groove 1321 that matches the shape of the suture needle 14. The suture needle 14 passes between the slider 131 and the second groove 1321. Figure 12 As shown, when the locking block 132 moves down elastically, the locking mechanism 13 locks the suture needle 14 based on the second groove 1321, and the locking mechanism 13 can drive the suture needle 14 to slide.

[0149] Figure 13 A perspective view of a cover according to an embodiment of the present disclosure is shown schematically. Figure 14 The diagram schematically illustrates the state of the suture needle sliding forward after the locking mechanism has locked it in place. Figure 15 The diagram schematically illustrates the state of the locking mechanism sliding in the reverse direction after the locking mechanism releases the suture needle.

[0150] like Figure 13 As shown, in some embodiments, the cover 12 includes a boss 122. The boss 122 is disposed within the receiving space and includes a first needle infeed slope 1211, a first needle row plane 1212, and a first needle retraction slope 1213 connected in sequence. The boss 122 may be formed on the main plate 122 of the cover 12.

[0151] In some embodiments, when the locking mechanism 13 has not yet slid and is located at one end of the first groove 111 near the first needle inclination 1211, the locking mechanism 13, supported by the elastic member 134, is a certain distance away from the main board 122 of the cover 12 (e.g., Figure 5 (as shown), the first drive wire 34 drives the locking mechanism 13 to slide in the positive direction ( Figure 14When the first needle insertion slope 1211 is reached from the counterclockwise direction of the central boss 122, the locking block 132 moves down due to the pressure of the first needle insertion slope 1211. The locking block 132 of the locking mechanism 13 moves down from the first state, which is a certain distance away from the main board 122 of the cover 12, along the first needle insertion slope 1211 to the first needle plane 1212. The second groove 1321 contacts the suture needle 14. The second groove 1321 of the locking block 132 and the I-shaped structure 1311 of the slider 131 lock the suture needle 14 together. The first drive wire 34 drives the locking block 132 to lock and move the suture needle 14 along the first needle plane 1212. When the locking mechanism 13 slides forward from the first needle plane 1212 to the first needle withdrawal slope 1213, the locking block 132 moves upward along the first needle withdrawal slope 1213 under the action of the elastic member 134, and is a certain distance away from the main board 122, releasing the suture needle 14, thereby completing a forward movement operation of the suture needle 14.

[0152] The first drive wire 34 drives the locking mechanism 13 in the reverse direction ( Figure 15 When the locking block 132 slides clockwise along the central boss 122 to the first unpin inclined surface 1213, the locking block 132 rotates in the first direction (e.g., ...). Figure 11 (In the counterclockwise direction of the locking block 132), the distance between the locking block 132 and the suture needle 14 can be increased. The locking mechanism 13 slides in the opposite direction to move away from the first needle insertion slope 1211. In other words, after the locking mechanism 13 slides in the opposite direction and passes through the first needle withdrawal slope 1213, the first needle row plane 1212 and the first needle insertion slope 1211 in sequence, it slides out of the first needle row plane 1212 from the first needle insertion slope 1211.

[0153] like Figure 11 As shown, in some embodiments, the first end of the locking block 132 includes a second needle-incident surface 1322, a second needle-retracting surface 1323, a second needle-retracting surface 1324, and a third needle-retracting surface 1325 connected in sequence. The second needle-incident surface 1322 and the second needle-retracting surface 1324 may form a 45° angle with the second needle-retracting surface 1323 and the third needle-retracting surface 1325.

[0154] Specifically, in the locking mechanism 13 along the positive direction ( Figure 14When the suture block 132 slides counterclockwise along the central protrusion 122 to the first needle insertion slope 1211, based on the cooperation between the second needle insertion slope 1322 and the first needle insertion slope 1211, it moves from a first state, at a certain distance from the main plate 122 of the cover 12, to the first needle plane 1212. The second groove 1321 contacts the suture needle 14, and the locking block 132 locks the suture needle 14. The second needle plane 1323 contacts the first needle plane 1212, and the locking mechanism 13, based on the second needle plane 1323, drives the suture needle 14 to slide along the first needle plane 1212 under the drive of the first drive wire 34.

[0155] The first drive wire 34 drives the locking mechanism 13 in the positive direction ( Figure 14 When the needle 14 slides counterclockwise along the central boss 122 to the first needle retraction slope 1213, the locking mechanism 13 moves upward based on the cooperation of the second needle retraction slope 1324 and the first needle retraction slope 1213, releasing the suture needle 14. The locking mechanism 13 is a certain distance away from the main board 122, thereby completing a forward movement operation of the suture needle 14.

[0156] The first drive wire 34 drives the locking mechanism 13 in the reverse direction ( Figure 15 When the locking block 132 slides to the first retraction slope 1213 along the clockwise direction of the central boss 122, it rotates in the first direction based on the cooperation between the second retraction slope 1324 and the first retraction slope 1213 (e.g., along the clockwise direction of the central boss 122). Figure 11 (In the counterclockwise direction of the locking block 132), the third needle plane 1325 contacts the first needle plane 1212, thereby increasing the distance between the locking block 132 and the suture needle 14. The locking mechanism 13 slides along the first needle plane 1212 based on the third needle plane 1325. After the locking mechanism 13 slides in the opposite direction to move away from the first needle inlet slope 1211, in other words, after the locking mechanism 13 slides in the opposite direction and passes through the first needle withdrawal slope 1213, the first needle plane 1212 and the first needle inlet slope 1211 in sequence, it slides out of the first needle plane 1212 from the first needle inlet slope 1211.

[0157] When the locking mechanism 13 slides forward again under the drive of the first drive wire 34, the second needle withdrawal slope 1324 of the locking block 132 begins to contact the first needle insertion slope 1211 of the boss 122. Under the action of the two slopes, the locking block 132 begins to rotate in the opposite direction to the first direction and moves down, so that the second needle plane 1323 of the locking block 132 contacts the first needle plane 1212 of the boss 122. The second groove 1321 locks the suture needle 14, and the locking mechanism 13 changes from the released state to the locked state, which drives the suture needle 14 to slide forward again.

[0158] like Figure 11As shown, in some embodiments, a ramp 1326 is also formed at the second end of the locking block 132, which is configured to allow the locking block 132 to rotate in the first direction when the locking block 132 begins to slide in the reverse direction.

[0159] like Figure 9 and Figure 10 As shown, in some embodiments, slider 131 may include an I-shaped structure 1311 (e.g., Figure 10 The lower part of the middle slider 131) and the U-shaped structure 1312 (such as Figure 10 The upper part of the middle slider 131). An I-shaped structure 1311 is formed at the bottom of the slider 131. The locking mechanism 13 is slidably embedded in the first groove 111 based on the I-shaped structure 1311. The first drive wire 34 extends through the I-shaped structure 1311 to the outside of the main body 11. A U-shaped structure 1312 is formed on the upper part of the I-shaped structure 1311, such as Figure 12 As shown, the suture needle 14 is inserted between the U-shaped structure 1312 and the second groove 1321.

[0160] like Figure 6 , Figure 9 and Figure 10 As shown, in some embodiments, the locking mechanism 13 further includes two receiving grooves 133, two elastic elements 134, and two support platforms 135. The receiving grooves 133 are respectively formed on both sides of the U-shaped structure 1312 of the slider 131. The elastic elements 134 are respectively embedded in the receiving grooves 133, and the elastic elements 134 can be springs. Circular holes may be formed in the receiving grooves 133, and the elastic elements 134 can be embedded in the circular holes. The support platforms 135 are respectively sleeved on the elastic elements 134 and located within the receiving grooves 133, and the support platforms 135 can be fixed to the slider 131 based on the elastic elements 134.

[0161] like Figure 11 As shown, in some embodiments, the locking block 132 has outwardly extending rotary shafts 1327 formed on both sides, and the support 135 has semi-circular grooves that match the rotary shafts 1327. The rotary shafts 1327 are respectively embedded in the semi-circular grooves of the support 135, so that the locking block 132 rotates around the rotary shafts 1327. The locking block 132 can move up and down based on the elastic member 134, and the locking block 132 moves in the positive direction ( Figure 14 As the suture needle 14 slides from the first retraction ramp 1213 of the boss 122 (counterclockwise direction) to the main plate 122 of the cover 12, the locking block 132 moves upward based on the elasticity of the elastic element 134, releasing the suture needle 14. The locking mechanism 13 is driven by the first drive wire 34 in the opposite direction (counterclockwise direction). Figure 15 When the locking block 132 slides clockwise along the central boss 122 to the first retraction ramp 1213, the locking block 132 rotates along the first direction based on the rotation axis 1327 (e.g., ...). Figure 11(In the counterclockwise direction of the locking block 132), when the second retraction slope 1324 of the locking block 132 begins to contact the first insertion slope 1211 of the boss 122, the locking block 132 rotates along the axis of rotation 1327 in a direction opposite to the first direction (e.g., ...). Figure 11 Rotate clockwise along the locking block 132.

[0162] In some embodiments, the locking mechanism 13 further includes a limiting beam 136. The two ends of the limiting beam 136 can be connected to the two sides of the U-shaped structure 1312 respectively. When the locking block 132 rotates along the first direction under the drive of the first drive wire 34 until the second needle plane 1323 contacts the first needle plane 1212, the limiting beam 136 is configured to abut against the locking block 132 to prevent the locking block 132 from continuing to rotate around the rotating shaft 1327, so as to avoid the locking block 132 rotating at too large an angle.

[0163] Figure 16 A perspective view schematically illustrating the connection between the anti-needle retraction mechanism and the suture needle according to an embodiment of the present disclosure is shown.

[0164] like Figure 16 As shown, in some embodiments, the suture device 1 further includes an anti-needle-retraction mechanism 16. The anti-needle-retraction mechanism 16 may include a needle holder 161 and a spring sheet 162. The spring sheet 162 may be made of an elastic material and has good elasticity. The needle holder 161 may include a fixing part 1611 (e.g., ...). Figure 16 (Cylindrical portion) and extension 1612. A fixing portion 1611 is provided at one end of the first groove 111 (e.g., a cylindrical portion) and an extension 1612. Figure 5 As shown), a groove is formed on the extension 1612 that matches the shape of the suture needle 14. The suture needle 14 is slidably connected to the needle holder 161 based on the groove. The suture needle 14 can be embedded in the groove. When the locking mechanism 13 drives the suture needle 14 to slide in the forward direction, the suture needle 14 slides along the groove. The spring piece 162 is inclined in the forward direction on the fixing part 1611. In other words, the angle between the spring piece 162 and the fixing part 1611 is an acute angle. When the locking mechanism 13 slides in the forward direction, the suture needle 14 squeezes the spring piece 162 (the angle between the spring piece 162 and the fixing part 1611 becomes smaller) and slides in the forward direction. When the locking mechanism 13 slides in the reverse direction, the spring piece 162 can prevent the suture needle 14 from sliding in the reverse direction. By providing the anti-retraction needle mechanism 16, the suture needle 14 can be prevented from retracting. Furthermore, when the locking mechanism 13 slides in the reverse direction ( Figure 15 When the locking mechanism 13 slides clockwise along the central boss 122, it prevents the suture needle 14 from sliding in the opposite direction along with the locking mechanism 13.

[0165] Figure 17 A schematic cross-sectional view of a transmission mechanism according to an embodiment of the present disclosure is shown, illustrating the main body and the cover.

[0166] like Figures 5 to 9 and Figure 17 As shown, in some embodiments, the transmission mechanism 15 includes two guide portions 151. Each guide portion 151 may further include a central shaft 1512 and a central wheel 1513. The guide portions 151 may be respectively mounted on the other end of the main body 11 (e.g., Figure 8 As shown on the left), each guide portion 151 may be formed with a guide groove 1511, and the guide groove 1511 may be formed on the outer periphery of the center wheel 1513 (e.g., on the left). Figure 6 or Figure 17 (As shown). The central shaft 1512 is mounted at the other end of the main body 11 (as shown). Figure 8 (As shown on the left). The center wheel 1513 is sleeved on the center shaft 1512. A guide groove 1511 is formed on the outer circumference of the center wheel 1513. When the first drive wire 34 slides along the guide groove 1511, it can drive the center wheel 1513 to rotate around the center shaft 1512, thereby reducing friction when the first drive wire 34 changes direction. Figure 7 and Figure 8 As shown, the main body 11 has a mounting groove 112 that allows the center wheel 1513 to slide into the receiving space. After the center wheel 1513 slides into the receiving space through the mounting groove 112, the center shaft 1512 passes through the through hole at the top left end of the main body 11, through the top plate of the main body 11 and the center wheel 1513, and is vertically embedded in the bottom plate of the main body 11 (e.g., Figure 17 (As shown), thereby fixing the center wheel 1513.

[0167] In some embodiments, each first drive wire 34 includes a first portion 341 and a second portion 342. The first portion 341 is used to fit into a first groove 111 and is connected to a locking mechanism 13, such as... Figure 12As shown, two first drive wires 34 pass through the through holes of the I-shaped structure 1311 in opposite directions. The width of the end of the first portion 341 is greater than the diameter of the through hole, which prevents the end of the first portion 341 from protruding out of the through hole, thereby fixing the first portion 341 to the locking mechanism 13. The end of the first portion 341 can be clamped by an external clamping tool, thereby deforming the end of the first portion 341, making the width of the end of the first portion 341 greater than the diameter of the through hole. Further, the first portion 341 is characterized by the part of the first drive wire 34 embedded in the first groove 111, and the second portion 342 is characterized by the part of the first drive wire 34 other than the part embedded in the first groove 111. As the locking mechanism 13 slides along the first groove 111, the lengths of the first portion 341 and the second portion 342 change. By embedding the first portion 341 into the first groove 111, the smoothness of the sliding of the locking mechanism 13 driven by the first drive wire 34 of the sewing rotating assembly 3 can be improved. The two first drive wires 34 drive the locking mechanism 13 to slide in opposite directions. Specifically, one drives the locking mechanism 13 to slide in the forward direction, and the other drives the locking mechanism 13 to slide in the reverse direction.

[0168] In some embodiments, the second part 342 of the first drive wire 34 extends from the first groove 111 through the guide groove 1511 to the outside of the main body 11 and is connected to the sewing rotation assembly 3. The second part 342 drives the first part 341 to reciprocate along the first groove 111 under the drive of the sewing rotation assembly 3, thereby driving the locking mechanism 13 to slide back and forth along the first groove 111.

[0169] In some embodiments, such as Figure 17 As shown, the two first drive wires 34 extend to the outside of the main body 11 along a direction parallel to the axis of symmetry of the main body 11. That is, the center lines of the two guide grooves are parallel in the same vertical plane. In other words, the center lines of the guide grooves 1511 of the two center wheels 1513 are parallel to the axis of symmetry of the main body 11 in a direction perpendicular to the bottom plate of the main body 11 (e.g., ...). Figure 17 The projections of the two center wheels 1513 in the vertical direction coincide. The central axes of the two center wheels 1513 can be located at the same horizontal position (e.g., ...). Figure 17 (in the left and right directions), the guide grooves 1511 of the two center wheels 1513 can be arranged vertically (e.g., in the left and right directions). Figure 17 (Up and down direction). The first drive wire 34 is connected to the locking mechanism 13 via the guide groove 1511, thereby decoupling the sewing action and the swaying action of the sewing device 1.

[0170] like Figure 8As shown, in some embodiments, the transmission mechanism 15 may further include multiple sets of transition wheels 152. The transition wheels 152 are disposed within the receiving space and configured to change the extension direction of the first drive wire 34 so that the first drive wire 34 extends from the first groove 111 through the guide groove 1511 to the outside of the main body 11. Figure 8 As shown, it may include two sets of transition wheels 152, and each set of transition wheels 152 may include two transition wheels 152. The first set of transition wheels 152 may be respectively disposed at the end of the first groove 111 (e.g., Figure 8 The first drive wire 34 extends from the right end of the main body 11 to the left end of the main body 11 (as shown in the diagram). The second set of transition wheels 152 can be respectively set at a position approximately in the middle of the receiving space. The first drive wire 34 extends from the second set of transition wheels 152 to the guide groove 1511. By setting the second set of guide grooves 1511, the stability of the sliding of the first drive wire 34 can be improved when the sewing rotating assembly 3 drives the first drive wire 34 to slide.

[0171] The suture rotation assembly 3 drives the first drive wire 34, which in turn drives the locking mechanism 13 to repeatedly move forward and backward, thereby driving the suture needle 14 to move forward for suturing. Two forward movements of the locking mechanism 13 driving the suture needle 14 represent one suturing operation. When the first drive wire 34 drives the locking mechanism 13 to slide forward once, the locking mechanism 13 locks the suture needle 14, and then drives the suture needle 14 to slide forward, completing half a suturing action. When the first drive wire 34 drives the locking mechanism 13 to slide backward, the locking mechanism 13 releases the suture needle 14. Under the action of the anti-retraction mechanism 16, the locking mechanism 13 will not drive the suture needle 14 to move when sliding backward. This process is repeated twice to complete one suturing operation.

[0172] Figure 18 An exploded view of a yaw assembly according to an embodiment of the present disclosure is shown schematically.

[0173] like Figure 2 As shown, in some embodiments, the autonomous suturing instrument further includes a yaw component 4. (As illustrated...) Figure 2 and 18 As shown, the oscillation assembly 4 is disposed in the first receiving space 21. The oscillation assembly 4 includes a second drive mechanism 41, a second rotation mechanism 42, and two second drive wires 43. The second rotation mechanism 42 is connected to the second drive mechanism 41 and rotates with the second drive mechanism 41. One end of each of the two second drive wires 43 is wound around the second rotation mechanism 42 in opposite directions, and the other end is fixed to the main body in opposite directions. When the second rotation mechanism 42 rotates, the second drive wires 43 drive the main body to oscillate, thereby adjusting the angle of the suture device 1. By using the oscillation assembly 4 and the robot to adjust together, the suture device 1 can be made to fit the surgical surface. The second drive mechanism 41 may include a geared motor.

[0174] In some embodiments, the second rotating mechanism 42 includes a rotating drive shaft 421, two rotating drive wheels 422, and two second clamping blocks 423. The rotating drive shaft 421 and the third limiting block 44 are connected together to the second driving mechanism 41. The rotating drive shaft 421 rotates with the second driving mechanism 41, and the third limiting block 44 limits the rotation angle of the rotating drive shaft 421. The rotating drive wheels 422 are sleeved on the rotating drive shaft 421 through the two second clamping blocks 423. Two second driving wires 43 are wound around the rotating drive wheels 422 in opposite directions. When the rotating drive shaft 421 drives the rotating drive wheels 422 to rotate, the second driving wires 43 wind around or unwind the rotating drive wheels 422 to drive the sewing device 1 to swing. The rotating drive shaft 421 can be installed between the top and bottom of the housing 2 through bearings and retaining rings. The second driving mechanism 41 can be installed at the bottom of the housing 2 and located outside the housing 2.

[0175] In some embodiments, the sway assembly 4 further includes a third limiting block 44. The third limiting block 44 is connected to the second drive mechanism 41 and is configured to cooperate with the protrusion 22 of the housing 2 to limit the rotation angle of the second drive mechanism 41, thereby limiting the sway angle of the sewing device 1 relative to the sleeve 5.

[0176] In some embodiments, the yaw assembly 4 further includes a second guide assembly 45. The second guide assembly 45 includes a second guide shaft 451 and two second guide wheels 452. The second guide shaft 451 is disposed within the housing 2. The two second guide wheels 452 are respectively sleeved on the second guide shaft 451, and two second drive wires 43 are respectively connected to the main body 11 via the second guide wheels 452. Figure 6 As shown, the main body 11 is provided with two guide rails 113 and mounting holes 114 communicating with the guide rails 113. The second drive wire 43 can be fixed to the mounting holes 114 via the guide rails 113 respectively.

[0177] The housing 2 may further include a motor base 23, a lower base 24, a mounting base 25, a support plate 26, an upper top plate 27, and a cover 28. The motor base 23, lower base 24, upper top plate 27, and support plate 26 are interconnected to form the main body of the housing 2. The motor base 23 and lower base 24 can be connected by screws, the lower base 24 and upper top plate 27 can be connected by screws, and the motor base 23, lower base 24, and upper top plate 27 can be fixed to the support plate 26 by screws. The motor base 23 is used for mounting the first motor 311 and the second drive mechanism 41. The lower base 24 has two bearing holes for mounting bearings to restrict the rotation of the drive shaft 421 and the suturing drive shaft 332, respectively. The mounting base 25 is used for mounting and connecting the autonomous suturing instrument to the robot 200. The upper top plate 27 has two bearing holes for mounting bearings to restrict the rotation of the drive shaft 421 and the suturing drive shaft 332, respectively.

[0178] The sleeve 55 may include a sleeve 51 and a connector 52. The lower base 24 has a sleeve hole on its side wall for mounting the sleeve 51. The sleeve 51 has slots at both ends; one slot is embedded in a protrusion in the sleeve hole of the lower base 24, and the other slot is recessed into a protrusion in the connector 52, thus restricting the rotation of the sleeve 51 and connector 52 around their own axes. The connector 52 has a swing groove 521 and a pin hole 522. The sewing device 1 is embedded in the swing groove 521 of the connector 52 via a pin. Under the action of the swing assembly 4, the sewing device can swing at a certain angle around the center line of the pin hole 522 of the connector 52. The connector 52 has a thread hole (not shown in the figure), through which the first drive wire 34 and the second drive wire 43 pass to the sewing device 1. The first guide wheel 352 and the second guide wheel 452 are embedded in the lower base 24 and the upper top plate 27 through the first guide shaft 351 and the second guide shaft 451, respectively, to change the transmission direction of the first drive wire 34 and the second drive wire 43, so that the first drive wire 34 and the second drive wire 43 do not contact the sleeve 51 when passing through the sleeve 51.

[0179] Example 1:

[0180] The pendulum swing process:

[0181] The second drive mechanism 41 drives the rotating drive shaft 421 and the third limiting block 44 to rotate. The rotating drive wheel 422 is locked to the locking surface of the rotating drive shaft 421 by screws, and the rotation of the rotating drive shaft 421 drives the two rotating drive wheels 422 to rotate. Two second drive wires 43 are wound on the two rotating drive wheels 422 in opposite directions. The rotation of the rotating drive wheel 422 will tighten and loosen the two second drive wires 43. The end of the second drive wire 43 away from the rotating drive wheel 422 is connected to the mounting hole 114 of the main body 11. The alternating tightening of the two second drive wires 43 can cause the suturing device 1 to deflect relative to the axis of the sleeve 5. The third limiting block 44 cooperates with the protrusion 22 to limit the rotation angle of the second drive mechanism 41, thereby limiting the deflection angle of the suturing device 1.

[0182] Example 2:

[0183] The process of suturing and rotating:

[0184] The unidirectional rotation of the first motor 311 drives the suture drive shaft 332 to rotate reciprocally via the linear reciprocating motion mechanism 32. The two suture drive wheels 333, through rotation, tighten and loosen the two first drive wires 34, thereby causing the locking mechanism 13 to slide reciprocally in both directions. The forward and reverse sliding of the locking mechanism 13 drives the suture needle 14 to complete multiple suture actions. When the locking mechanism 13 slides forward, the locking block 132 locks the suture needle 14, causing it to complete the suture action. When the locking mechanism 13 slides in the reverse direction, the locking block 132 loosens the suture needle 14, and the suture needle 14 comes to rest under the action of the spring piece 162. Specifically:

[0185] The rotation of the first motor 311 drives the first rotating shaft 312 to rotate. The limiting pin 3121 on the first rotating shaft 312 is inserted into the first moving hole 32121 of the extension plate 3212 of the moving member 321. Under the driving force of the first driving mechanism 31 and the constraint of the first limiting component 322, the moving member 321 performs linear reciprocating motion. The moving member 321 meshes with the first gear 331, and the sewing drive shaft 332 reciprocates around the axis of the first motor 311 under the constraint of the bearing. Two sewing drive wheels 333 are respectively locked to the locking surface of the sewing drive shaft 332 with screws, and the reciprocating rotation of the sewing drive shaft 332 drives the sewing drive wheels 333 to reciprocate. Two first drive wires 34 are wound on the sewing drive wheels 333 respectively; the rotation of the sewing drive wheels 333 tightens and loosens the first drive wires 34. The end of the first drive wire 34 away from the sewing drive wheel 333 is connected to the locking mechanism 12. The alternating tension of the first drive wire 34 can drive the locking mechanism 13 to slide back and forth along the first groove 111.

[0186] Figures 19 to 26 The diagram illustrates a suture state during a suture operation according to an embodiment of the present disclosure.

[0187] Example 3:

[0188] When the suture needle 14 is in such a position Figure 19 In the indicated state, the second needle plane 1323 of the locking block 132 faces upward, and the second groove 1321 faces downward. Under the restoring force of the elastic member 134, the second needle plane 1323 of the locking block 132 is higher than the first needle plane 1212 of the boss 122, and the locking block 132 does not contact the main board 122. In this state, there is a gap between the locking block 132 and the suture needle 14, the second groove 1321 does not contact the suture needle 14, and the locking mechanism 13 is in the released state.

[0189] When the suture needle 14 is in such a position Figure 20 In the state shown, the sewing rotation assembly 3 drives the first drive wire 34 to cause the locking mechanism 13 to slide in the forward direction (as shown). Figure 20 (Counterclockwise) As the locking block 132 rotates, its second needle-feeding inclined surface 1322 begins to contact the first needle-feeding inclined surface 1211 of the boss 122. Under the action of the two inclined surfaces, the locking block 132 begins to move downward, reducing the gap between the second groove 1321 and the suture needle 14. As the locking mechanism 13 continues to slide forward, the second needle-feeding plane 1323 of the locking block 132 contacts the first needle-feeding plane 1212 of the boss 122. Under the pressure of the boss 122, the second groove 1321 fully contacts the suture needle 14, thereby locking the suture needle 14. After locking the suture needle 14, the locking block 132 drives the suture needle 14 to slide forward, puncturing the area to be sutured and performing the suturing action. After the suture needle 14 rotates at a certain angle, it will compress the spring 162 to deform. At the same time, the spring 162 will also exert a squeezing force on the suture needle 14.

[0190] When the suture needle 14 is in such a position Figure 21 In the state shown, as the locking mechanism 13 slides further forward, the second needle plane 1323 of the locking block 132 disengages from the first needle plane 1212, the second needle retraction slope 1324 of the locking block 132 begins to contact the first needle retraction slope 1213 of the boss 122, the locking block 132 moves upward under the action of the elastic force of the elastic member 134, the gap between the second groove 1321 and the sewing needle 14 gradually increases, and the locking mechanism 13 changes from the locked state to the released state.

[0191] When the suture needle 14 is in such a position Figure 22 In the state shown, the sewing rotation assembly 3 drives the first drive wire 34 to cause the locking mechanism 13 to slide in the opposite direction (as shown). Figure 22 (clockwise), the second retraction slope 1324 of the locking block 132 re-contacts the first retraction slope 1213 of the boss 122, and the locking block 132 is pushed by the first retraction slope 1213 along the first direction (e.g., clockwise). Figure 15The locking block 132 rotates counterclockwise, causing the third needle plane 1325 of the locking block 132 to contact the first needle plane 1212 of the boss 122. The lowest point of the locking block 132 contacts the limiting beam 136, which prevents the locking block 132 from rotating further in the first direction, thus maintaining the contact between the third needle plane 1325 and the first needle plane 1212. At this time, there is still a gap between the lowest point of the locking block 132 and the suture needle 14, and the locking mechanism 13 is still in the released state. At the same time, the suture needle 14 does not slide in the opposite direction with the locking mechanism 13 under the squeezing force of the spring piece 162. After the locking mechanism 13 slides in the opposite direction to the initial position (e.g., Figure 23 (As shown on the right end), the locking mechanism 13 completes its first round trip, completes one forward movement of the suture needle 14, and completes half a suturing operation.

[0192] When the suture needle 14 is in such a position Figure 23 In the state shown, the third needle plane 1325 of the locking block 132 is disengaged from the first needle plane 1212. Under the rebound force of the elastic member 134, the locking block 132 moves upward, so that the second needle inclination 132 is higher than the first needle plane 1212, and the locking mechanism 13 is still in the released state.

[0193] When the suture needle 14 is in such a position Figure 24 In the indicated state, the locking mechanism 13 slides forward again under the drive of the first drive wire 34. The second needle withdrawal slope 1324 of the locking block 132 begins to contact the first needle insertion slope 1211 of the boss 122. Under the action of the two slopes, the locking block 132 begins to rotate in the opposite direction to the first direction and moves downward, so that the second needle plane 1323 of the locking block 132 contacts the first needle plane 1212 of the boss 122. At this time, the first needle plane 1212 of the locking block 132 faces upward and the second groove 1321 faces downward. The second groove 1321 is in complete contact with the suture needle 14, and the locking mechanism 13 changes from the released state to the locked state, locking the suture needle 14, and then driving the suture needle 14 to slide forward to perform the suturing action.

[0194] When the suture needle 14 is in such a position Figure 25 In the indicated state, as the locking mechanism 13 slides further forward, the second needle plane 1323 of the locking block 132 separates from the first needle plane 1212 of the boss 122. The second needle retraction slope 1324 of the locking block 132 begins to contact the first needle retraction slope 1213 of the boss 122. Under the rebound force of the elastic member 134, the locking block 132 moves upward, and the gap between the second groove 1321 and the sewing needle 14 gradually increases. The locking mechanism 13 changes from the locked state to the released state. At this time, the spring piece 162 also returns to its initial position.

[0195] When the suture needle 14 is in such a position Figure 26In the state shown, the locking mechanism 13 is in the first drive wire 3 4 Driven by the movement, the locking block 132 slides in the opposite direction again, and the first needle withdrawal slope 1213 contacts the second needle withdrawal slope 1324. The locking block 132 rotates in the first direction due to the pushing force of the first needle withdrawal slope 1213, causing the third needle plane 1325 of the locking block 132 to contact the first needle plane 1212. The lowest point of the locking block 132 contacts the limiting beam 136, preventing the locking block 132 from rotating further in the first direction, thus maintaining the contact between the third needle plane 1325 and the first needle plane 1212. At this time, there is still a gap between the lowest point of the locking block 132 and the suture needle 14, and the locking mechanism 13 remains in the released state. At this time, the suture needle 14 does not slide in the opposite direction with the locking mechanism 13 under the restriction of the spring piece 162. After the locking mechanism 13 slides back to its initial position, it completes its second round trip, completing the second forward movement of the suture needle 14, thus completing the second half of the suturing operation.

[0196] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of this disclosure. It should be understood that the above are only specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A self-suturing device, characterized in that, include: Sleeve; The suturing device includes: The main body is rotatably disposed at one end of the sleeve; and Suture needle; A locking mechanism is movably disposed at one end of the main body and has a locked state and a released state. The locking mechanism is configured to drive the suture needle to move when it is locked. A housing having a first receiving space, the housing being disposed at the other end of the sleeve; and A sewing rotation assembly is disposed within the first receiving space and is throttle-connected to the locking mechanism. The sewing rotation assembly includes: First drive mechanism A linear reciprocating motion mechanism, connected to the first drive mechanism, reciprocating in response to the rotation of the first drive mechanism, includes: a moving member, including: The base extends along the direction of movement of the linear reciprocating motion mechanism; and The extension plate extends along the direction of movement perpendicular to the linear reciprocating motion mechanism; and A first limiting component forms a limiting groove, the movable member is disposed on the limiting groove, and the limiting groove is configured to prevent the movable member from moving in a direction perpendicular to the linear reciprocating motion mechanism; and The first rotating mechanism is connected to the linear reciprocating motion mechanism and the locking mechanism respectively. When the linear reciprocating motion mechanism moves back and forth, the linear reciprocating motion mechanism drives the first rotating mechanism to rotate back and forth, so as to drive the suture needle to complete the suturing operation. Two first drive wires are wound around the first rotating mechanism in opposite directions at one end and fixed to the locking mechanism in opposite directions at the other end. When the first rotating mechanism reciprocates, the first drive wires drive the locking mechanism to reciprocate.

2. The self-suturing device according to claim 1, characterized in that, It also includes a yaw component disposed in the first receiving space, the yaw component comprising: Second drive mechanism; The second rotating mechanism is connected to the second driving mechanism and rotates following the second driving mechanism; and Two second drive wires are wound around the second rotating mechanism in opposite directions at one end, and fixed to the main body in opposite directions at the other end. When the second rotating mechanism rotates, the second drive wires drive the suturing device to swing, thereby adjusting the angle of the suturing device.

3. The self-suturing device according to claim 1, characterized in that, The first rotating mechanism includes: The first gear meshes with the teeth of the base, and the first gear reciprocates under the drive of the base; A stitching drive shaft is connected to the first gear, and the stitching drive shaft reciprocates following the first gear; and Two suture drive wheels are sleeved on the suture drive shaft. Two first drive wires are wound around the suture drive wheels in opposite directions. When the suture drive shaft drives the suture drive wheels to rotate, the first drive wires wrap around or unwrap the suture drive wheels to drive the locking mechanism to reciprocate.

4. The self-suturing device according to claim 2, characterized in that, The yaw component also includes: A third limiting block is connected to the second drive mechanism. The third limiting block is configured to cooperate with the protrusion of the housing to limit the rotation angle of the second drive mechanism.

5. The self-suturing device according to claim 4, characterized in that, The second rotating mechanism includes: A rotating drive shaft is connected to the second drive mechanism via the third limiting block, and the rotating drive shaft rotates following the second drive mechanism; and Two rotating drive wheels are sleeved on the rotating drive shaft. Two second drive wires are wound around the rotating drive wheels in opposite directions. When the rotating drive shaft drives the rotating drive wheels to rotate, the second drive wires wrap around or unwrap the rotating drive wheels to drive the sewing device to swing.

6. The self-suturing device according to claim 2, characterized in that: The suture rotation assembly further includes a first guide assembly, the first guide assembly comprising: A first guide shaft is disposed within the housing; and Two first guide wheels are respectively sleeved on the first guide shaft, and two first drive wires are respectively connected to the locking mechanism via the first guide wheels; and The yaw component further includes a second guide component, the second guide component comprising: A second guide shaft is disposed within the housing; and Two second guide wheels are respectively fitted on the second guide shaft, and two second drive wires are respectively connected to the main body through the second guide wheels.

7. The self-suturing device according to claim 1, characterized in that, The suture needle is threaded through the locking mechanism. When the suture rotation assembly drives the locking mechanism to move forward, the locking mechanism is in a locked state, driving the suture needle to move forward to complete one forward movement operation of the suture needle. When the suture rotation assembly drives the locking mechanism to move in the opposite direction, the locking mechanism is in a released state to prepare for the next forward movement operation of the suture needle.

8. The self-suturing device according to claim 7, characterized in that, The suturing device further includes a transmission mechanism, comprising: Two guide sections are respectively installed at the other end of the main body. Each guide section forms a guide groove. The center lines of the two guide grooves are parallel in the same vertical plane. The first drive wire is connected to the locking mechanism via the guide groove.

Images