Surgical system and its anchor delivery system, magazine and robotic arm

Abstract

The present invention discloses a surgical system and its anchor delivery system, magazine, and robotic arm. Using rectal ultrasound to perform 3D scanning and imaging of the prostate, the surgeon can intuitively determine the release position and angle. The robotic arm adjusts its posture during surgery, while a servo motor automatically controls the release of the anchor. This system, after 3D ultrasound imaging and positioning of the prostate, automatically calculates the optimal position and angle based on an algorithm, making surgery more convenient and the release more precise.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a surgical system and an anchoring member delivery system, a magazine and a robotic arm thereof. Background Art

[0002] Benign prostatic hyperplasia (BPH) is one of the most common medical conditions affecting men, particularly older men. The prostate gland continues to enlarge throughout life. In some men, the prostatic capsule surrounding the prostate may prevent further enlargement. This can cause the inner area of ​​the prostate to press against the urethra. This pressure on the urethra increases the resistance to urine flow through the area of ​​the urethra surrounded by the prostate. Consequently, the bladder must exert greater pressure to force urine through the increased urethral resistance. Chronic overuse can cause the bladder's muscle wall to remodel and become stiffer. This increased urethral resistance, increased urine stream hardness, and bladder wall hypertrophy can lead to various lower urinary tract symptoms (LUTS), which can significantly reduce a patient's quality of life. These symptoms include a weak or intermittent urine stream during urination, straining during urination, hesitation before starting urination, a feeling that the bladder is not completely empty even after urination, dribbling or leaking urine at the end of urination, increased urinary frequency, especially at night, and urgency. In addition to patients with BPH, LUTS may also be present in patients with prostate cancer, prostate infections, and long-term use of certain medications (e.g., ephedrine, pseudoephedrine, phenylpropanolamine, antihistamines such as diphenhydramine, chlorpheniramine, etc.), which can cause urinary retention. Although BPH is rarely life-threatening, it can lead to a number of clinical symptoms, including urinary retention, renal insufficiency, recurrent urinary tract infections, incontinence, hematuria, and bladder stones.

[0003] Currently, the treatment options available for BPH include watchful waiting, medical therapy (herbal remedies and prescription drugs), surgery, and minimally invasive surgery. Surgical procedures used to treat BPH symptoms include transurethral resection of the prostate (TURP), transurethral electrovaporization of the prostate (TVP), transurethral incision of the prostate (TUIP), laser prostatectomy, and open prostatectomy. Minimally invasive procedures used to treat BPH symptoms include transurethral microwave thermotherapy (TUMT), transurethral needle ablation (TUNA), interstitial laser coagulation (ILC), and prostate stents.

[0004] Many current treatments for BPH carry a high risk of side effects. These methods and devices either require general or spinal anesthesia or, with their potential side effects, require surgery in a surgical suite and subsequent hospitalization. BPH treatments with a lower risk of adverse effects are also associated with lower reductions in symptom scores. While some of these procedures can administer local analgesia in an office setting, patients do not experience immediate relief and, in fact, often experience worsening symptoms for several weeks after surgery as the body begins to heal. Furthermore, many device approaches require the placement of a catheter in the bladder, in some cases for several weeks. In some cases, catheterization is necessary because the treatment can actually cause an obstruction for some time after surgery, while in other cases, it is necessary due to postoperative bleeding and the potential for occlusive clot formation. While drug therapies are easy to administer, the results are less than ideal, they take a significant amount of time to be effective, and they often produce undesirable side effects.

[0005] Prostate suspension is a minimally invasive procedure that uses a transurethral implant to dilate the blocked prostate urethra. The principle is to implant a miniature urethral suspension device to suspend and compress the obstructed lateral lobe of the prostate, thereby dilating the blocked prostate urethra and improving the patient's obstruction symptoms. For example, patent document No. CNN114286646A discloses a device for transferring mechanical energy from a handle to a cassette to manipulate tissues or anatomical structures in a human or animal subject to treat a disease or condition. It is a manual instrument for performing prostate suspension. However, existing surgical instruments for prostate suspension treatment have the following defects:

[0006] 1. The puncture length cannot be adjusted, and the puncture needle length is fixed. For patients with small glands, excessive puncture is prone to occur, causing the puncture needle to hit other tissues, which is more risky.

[0007] 2. Manual instruments have a complex structure and require many operating steps. When releasing the anchor, strict requirements are placed on the compression angle and release area. The angle and area of ​​the anchor release are required to be small. These requirements are difficult for doctors to meet based on their subjective judgment. In the actual operation process, there are no tools for doctors to make judgments, which can easily lead to doctors' misoperation. Therefore, release failures or unsatisfactory releases often occur, and doctors need to slowly accumulate experience in clinical practice.

[0008] 3. There is no convenient instrument reset function. When the structure becomes stuck and fails, the internal structure cannot be easily reset, which increases the risk of surgery.

[0009] 4. Manual instruments are observed through an endoscope during operation. Since the distal end of the instrument needs to release the puncture needle, the field of view of the endoscope is very narrow and can only see part of the tissue. Therefore, it is difficult for the doctor to determine the better release position during the operation, affecting the efficiency and effect of the operation.

[0010] 5. The operation of manual instruments is completely subject to the doctor's experience, and the doctor's experience is difficult for other doctors to learn quickly, which is not conducive to the large-scale and rapid development of such operations as prostate suspension surgery. Summary of the Invention

[0011] To address the aforementioned technical issues, one of the objectives of the present invention is to provide a surgical system for automatically performing procedures such as prostate suspension surgery. This system uses rectal ultrasound to perform 3D scanning and imaging of the prostate, enabling the surgeon to intuitively determine the release position and angle. A robotic arm adjusts the position during surgery, while a servo motor automatically controls the release of the anchor. This system, after 3D ultrasound imaging and positioning of the prostate, automatically calculates the optimal position and angle based on an algorithm, making the procedure more convenient and the release more precise.

[0012] A second object of the present invention is to provide an anchor delivery system suitable for a surgical system for automatically performing the above-mentioned prostate suspension surgery.

[0013] A third object of the present invention is to provide a magazine for the above-mentioned anchor delivery system.

[0014] A fourth object of the present invention is to provide a robotic arm suitable for a surgical system for automatically performing the above-mentioned prostate suspension surgery.

[0015] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0016] A magazine for an anchor delivery system, comprising:

[0017] A puncture needle tube, in which a puncture needle capable of moving back and forth is inserted, a suture capable of moving back and forth is inserted, and a proximal end of the puncture needle tube is fixedly connected to the front end of the magazine body;

[0018] A push-pull tube, in which a shear rod and a push rod capable of moving forward and backward are inserted, and a proximal end of the push-pull tube is fixedly connected to the front end of the magazine body;

[0019] a puncture needle connector, which is mounted in the magazine body in a manner that allows it to slide back and forth, and the front portion of the puncture needle connector is fixedly connected to the proximal end of the puncture needle;

[0020] A pushing and shearing mechanism is used to drive the pushing rod to push the proximal anchor to clamp and fix the suture and to drive the shearing rod to drive the blade to cut the suture.

[0021] Preferably, the pushing and shearing mechanism comprises:

[0022] a shearing member, which is mounted in the magazine body in a manner capable of sliding forward and backward, and the shearing member pulls the blade backward through the shearing rod to complete the action of shearing the suture;

[0023] a pushing member, which is mounted in the magazine body in a manner capable of sliding forward and backward, and pushes the proximal anchor member forward via a pushing rod; the shearing member and the pushing member are arranged in front of and behind each other and are connected by a tension spring so as to pull the two toward each other;

[0024] A support member is installed between the shearing member and the pushing member. The front and rear ends of the support member can move and have two position states: when the support member is in the first position, it limits the rearward movement of the shearing member and does not limit the pushing member; when the support member is in the second position, it limits the forward movement of the pushing member and does not limit the shearing member.

[0025] Preferably, the middle portion of the support member is hinged to the magazine body via a hinge pin.

[0026] Preferably, the pushing component and the shearing component slide along the same straight line, the tension spring is always in a stretched state, and the tension released by the tension spring pulls the shearing component and the pushing component toward each other.

[0027] Preferably, the magazine further includes a push locking member disposed within the magazine body, which is connected to the push component when the push locking member is in an initial position, such that the push component is locked and cannot be moved.

[0028] Preferably, the push locking member has a hook portion and a release portion, and the hook portion cooperates with the platform portion on the pushing component to realize limit locking, and the driving member drives the release portion to realize the rotation of the push locking member and thereby unlock the pushing component.

[0029] Preferably, the proximal end of the suture is fixedly connected to the suture fixing seat, a guide rod is installed on the puncture needle connector, and the suture fixing seat is sleeved on the guide rod and can move back and forth.

[0030] Preferably, a positioning member for applying a positioning force to the suture fixing seat is provided in the magazine. When the suture fixing seat moves to a set position, the positioning member applies a positioning force to the suture fixing seat. When the moving force applied to the suture fixing seat is not greater than the positioning force applied to it by the positioning member, the suture fixing seat remains stationary. When the moving force applied to the suture fixing seat is greater than the positioning force applied to it by the positioning member, the suture fixing seat moves.

[0031] Preferably, the positioning member is a spring clip, one side of which is fixed to the magazine body or cover, and the other side of the spring clip is provided with a plurality of positioning protrusions or positioning grooves, and correspondingly, matching positioning grooves or positioning protrusions are provided on the suture fixing seat.

[0032] A surgical system comprising:

[0033] A robotic arm having an anchor delivery system mounted thereon, the anchor delivery system comprising a magazine for delivering and releasing the implant and a delivery drive for driving the magazine to perform a corresponding action; the magazine being a magazine for the anchor delivery system as described above;

[0034] Three-dimensional rectal B-ultrasound imaging probe;

[0035] The host computer is connected to the robotic arm and the three-dimensional rectal B-ultrasound imaging probe through data cables. The host computer is installed with a control operating system, which is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robotic arm.

[0036] A robotic arm, wherein a conveying drive device is installed at the end of the robotic arm, and the conveying drive device comprises:

[0037] a mounting plate;

[0038] A slider connecting block is slidably mounted on the mounting plate and driven by a servo motor to move forward and backward. The slider connecting block is connected to a puncture needle connector in the magazine and moves synchronously.

[0039] A driving member is connected to the push locking member in the magazine and is used for unlocking the push shearing mechanism.

[0040] Preferably, the servo motor drives the slider connecting block to move forward and backward via a screw rod.

[0041] Preferably, the screw is installed on the mounting plate through a screw support block and a screw fixing block, the screw support block is connected to the mounting plate through screws, the front end of the screw is fixed in the screw support block, the screw fixing block is connected to the mounting plate through screws, the rear end of the screw is fixed in the screw fixing block, and the rear end of the screw passes through the screw fixing block and is connected to the coupling.

[0042] Preferably, the servo motor is fixed to the mounting plate via a motor mounting block, the motor mounting block is connected to the mounting plate via screws, and the rotor of the servo motor is connected to the coupling.

[0043] Preferably, a screw slider is sleeved on the screw and fixedly connected to the slider connecting block, and the screw slider and the slider connecting block can move back and forth under the rotation of the screw.

[0044] Preferably, the slider connecting block is mounted on the guide rod via a bearing sleeve, the slider connecting block can slide back and forth along the guide rod, and the guide rod is fixedly mounted on the mounting plate.

[0045] Preferably, a cylinder is fixed on the mounting plate, and the piston rod of the cylinder is connected to the driving member to drive the driving member to move up and down, and the driving member pulls the push locking member to unlock the push shearing mechanism.

[0046] Preferably, the driving member is driven by an electromagnet or a motor.

[0047] Preferably, the mounting plate is fixedly connected to the bottom shell; the mounting plate and the bottom shell form an internal space for accommodating a servo motor, a screw rod, a slider connecting block and a driving part, etc., and a mounting groove for installing a magazine is provided on the outer side of the mounting plate, and the magazine body is fixedly connected to the mounting groove on the mounting plate through a snap-fit ​​structure.

[0048] A surgical system comprising:

[0049] A robotic arm as described above, wherein the delivery drive device is equipped with a magazine for delivering and releasing the implant;

[0050] Three-dimensional rectal B-ultrasound imaging probe;

[0051] The host computer is connected to the robotic arm and the three-dimensional rectal B-ultrasound imaging probe through data cables. The host computer is installed with a control operating system, which is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robotic arm.

[0052] An anchor delivery system includes a magazine for delivering a released implant and a delivery drive device for driving the magazine to perform a corresponding action;

[0053] The magazine comprises:

[0054] A puncture needle tube, in which a puncture needle capable of moving back and forth is inserted, the proximal end of the puncture needle tube is fixedly connected to the front end of the magazine body, and the distal end of the puncture needle tube is fixedly connected to the head end component;

[0055] A push-pull tube, wherein a shear rod and a push rod capable of moving forward and backward are inserted into the push-pull tube, a proximal end of the push-pull tube is fixedly connected to the front end of the magazine body, a proximal anchor member capable of moving forward and backward and being disengaged is provided in the distal opening of the push-pull tube, and the distal end of the push-pull tube is fixedly connected to the head end component;

[0056] A puncture needle connector, the front portion of which is fixedly connected to the proximal end of the puncture needle, a suture that can move back and forth is passed through the puncture needle, the proximal end of the suture is fixedly connected to a suture holder, the suture holder is mounted on the puncture needle connector in a manner that allows it to slide back and forth, and the distal end of the suture is fixedly connected to the distal anchor;

[0057] A pushing and shearing mechanism, used for driving a pushing rod to push the proximal anchor to clamp and fix the suture and for driving a shearing rod to drive a blade to cut the suture;

[0058] The conveying drive device comprises:

[0059] a mounting plate;

[0060] A slider connecting block is slidably mounted on the mounting plate and driven by a servo motor to move forward and backward. The slider connecting block is connected to a puncture needle connector in the magazine and moves synchronously.

[0061] A driving member is connected to the push locking member in the magazine and is used for unlocking the push shearing mechanism.

[0062] Preferably, the pushing and shearing mechanism comprises:

[0063] A shearing member is mounted in the magazine body in a manner that allows it to slide back and forth. The shearing member is fixedly connected to the proximal end of a shearing rod, and the distal end of the shearing rod is connected to a blade. The shearing member drives the shearing rod to pull the blade backward to complete the shearing action;

[0064] a pushing member, which is mounted in the magazine body in a manner that allows it to slide back and forth, and is fixedly connected to the proximal end of the pushing rod. The pushing rod pushes the proximal anchor member forward under the drive of the pushing member. The shearing member and the pushing member are arranged in front of each other and are connected by a tension spring so that the two are pulled toward each other;

[0065] A support member is installed between the shearing member and the pushing member. The front and rear ends of the support member can move and have two position states: when the support member is in the first position, its front end limits the rearward movement of the shearing member, and its rear end does not limit the pushing member; when the support member is in the second position, its rear end limits the forward movement of the pushing member, and its front end does not limit the shearing member.

[0066] Preferably, the push shearing mechanism further comprises a push locking member arranged in the magazine body, and when the push locking member is in the initial position, it is connected to the push component so that the push component is locked and cannot move.

[0067] Preferably, the pushing locking member has a hook portion for achieving position-limiting locking of the pushing component and a release portion for unlocking the pushing component.

[0068] Preferably, the proximal end of the suture is fixedly connected to the suture fixing seat, a guide rod is installed on the puncture needle connector, and the suture fixing seat is sleeved on the guide rod and can move back and forth.

[0069] Preferably, a positioning member for applying a positioning force to the suture fixing seat is provided in the magazine. When the suture fixing seat moves to a set position, the positioning member applies a positioning force to the suture fixing seat. When the moving force applied to the suture fixing seat is not greater than the positioning force applied to it by the positioning member, the suture fixing seat remains stationary. When the moving force applied to the suture fixing seat is greater than the positioning force applied to it by the positioning member, the suture fixing seat moves.

[0070] Preferably, the positioning member is a spring clip, one side of which is fixed to the magazine body or cover, and the other side of the spring clip is provided with a plurality of positioning protrusions or positioning grooves, and correspondingly, matching positioning grooves or positioning protrusions are provided on the suture fixing seat.

[0071] Preferably, the servo motor drives the slider connecting block to move forward and backward via a screw rod.

[0072] Preferably, the driving member is driven by a cylinder, an electromagnet or a motor.

[0073] An anchor delivery system, characterized by comprising a magazine for delivering a released implant and a delivery drive device for driving the magazine to perform a corresponding action;

[0074] The magazine comprises:

[0075] A puncture needle tube, in which a puncture needle capable of moving back and forth is inserted, the proximal end of the puncture needle tube is fixedly connected to the front end of the magazine body, and the distal end of the puncture needle tube is fixedly connected to the head end component;

[0076] A push-pull tube, wherein a shear rod and a push rod capable of moving forward and backward are inserted into the push-pull tube, a proximal end of the push-pull tube is fixedly connected to the front end of the magazine body, a proximal anchor member capable of moving forward and backward and being released is provided in the distal opening of the push-pull tube, and the distal end of the push-pull tube is fixedly connected to the head end component;

[0077] A puncture needle connector, the puncture needle connector is fixedly connected to the proximal end of the puncture needle, and a suture that can move back and forth is inserted into the puncture needle;

[0078] A suture holder, wherein the proximal end of the suture is fixedly connected to the suture holder via a suture support tube, the suture holder being mounted in the magazine body in a manner capable of sliding back and forth, and the distal end of the suture being fixedly connected to the distal anchor; the puncture needle connector and the suture holder are arranged in a front-rear arrangement;

[0079] A shearing member is mounted in the magazine body in a manner that allows it to slide back and forth. The shearing member is fixedly connected to the proximal end of a shearing rod, and the distal end of the shearing rod is connected to a blade. The shearing member drives the shearing rod to pull the blade backward to complete the shearing action;

[0080] A pushing component is mounted in the magazine body in a manner that allows it to slide back and forth. The pushing component is fixedly connected to the proximal end of the pushing rod. The pushing rod pushes the proximal anchor member forward under the drive of the pushing component. The shearing component and the pushing component are arranged in a front-rear manner.

[0081] The conveying drive device includes:

[0082] Install the connecting plate, which is used to install the magazine and connect the mechanical arm;

[0083] a first driving slide, the first driving slide being connected to the puncture needle connector in the magazine and moving synchronously;

[0084] a second driving slide, the second driving slide being connected to a suture fixing seat in the magazine and moving synchronously;

[0085] a third driving slide, the third driving slide being connected to a shearing member in the magazine and moving synchronously;

[0086] a fourth driving slide, the fourth driving slide being connected to a pushing component in the magazine and moving synchronously;

[0087] The first driving slider, the second driving slider, the third driving slider and the fourth driving slider are driven by linear motors to move independently.

[0088] Preferably, a mounting groove for mounting a magazine is provided on the outer side of the mounting connecting plate, and the magazine body is fixedly connected to the mounting groove on the mounting connecting plate through a snap structure.

[0089] Preferably, a motor seat is further provided, in which the linear motor is mounted and fixed, and the motor seat is fixedly connected to the mounting connecting plate.

[0090] Preferably, the first driving slider and the second driving slider are driven by the first linear motor to move independently or synchronously, and the third driving slider and the fourth driving slider are driven by the second linear motor to move independently or synchronously.

[0091] Preferably, the connecting post on the puncture needle connector passes through the window and is plugged into the slot on the first driving slider and moves synchronously, the connecting post on the suture fixing seat passes through the window and is plugged into the slot on the second driving slider and moves synchronously, the connecting post of the shearing component passes through the window and is plugged into the slot on the third driving slider and moves synchronously, and the connecting post of the pushing component passes through the window and is plugged into the slot on the fourth driving slider and moves synchronously.

[0092] A surgical system comprising:

[0093] a robotic arm having an anchor delivery system as described above mounted thereon;

[0094] Three-dimensional rectal B-ultrasound imaging probe;

[0095] The host computer is connected to the robotic arm and the three-dimensional rectal B-ultrasound imaging probe through data cables. The host computer is installed with a control operating system, which is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robotic arm.

[0096] The present invention adopts the above technical solution, using rectal ultrasound to perform 3D scanning and imaging of the prostate, allowing doctors to most intuitively determine the release position and angle, using a robotic arm to adjust the posture to perform the operation, and using a servo motor to automatically control the release of the anchor. In this way, after 3D imaging and positioning of the prostate through ultrasound, the optimal position and angle can be automatically calculated according to the algorithm, making the operation more convenient and the release more accurate. In addition, the algorithm can be improved and more cases can be stored to automatically optimize the release, which is more conducive to the standardization of surgery. After the manual suspension system is completed, a large amount of medical waste will be generated. The release device of the automated suspension system of the present invention does not contact the human body and can be reused, reducing waste by nearly 50%. Since the operation only consumes the implant clamp, the patient's expenses on handle consumables are reduced. The structure and movement of the instrument of the present invention are more reasonable and simple, the operation is simple and error-prone, and the reliability is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation on this application.

[0098] Figure 1 This is a schematic structural diagram of an anchor delivery system according to embodiment 1 of the present invention;

[0099] Figure 2 This is an exploded view of the handle of Example 1 of the present invention;

[0100] Figure 3 This is an exploded view of the magazine of Example 1 of the present invention;

[0101] Figure 4 This is one of the structural schematic diagrams of the puncture needle and the puncture needle connector in the magazine according to embodiment 1 of the present invention.

[0102] Figure 5 This is the second structural diagram of the puncture needle and the puncture needle connector in the magazine according to embodiment 1 of the present invention.

[0103] Figure 6 Schematic diagram of the matching structure of the puncture needle connector and the energy storage slider in Example 1 of the present invention.

[0104] Figure 7 This is a schematic structural diagram of the magazine head assembly according to embodiment 1 of the present invention.

[0105] Figure 8 This is a structural diagram of the magazine head assembly and the push-shear mechanism according to embodiment 1 of the present invention.

[0106] Figure 9 Schematic diagram of the internal structure of the magazine according to embodiment 1 of the present invention.

[0107] Figure 10 Schematic diagram of the positions of the components in the handle of Example 1 of the present invention (initial state, first position).

[0108] Figure 11 Schematic diagram of the positions of the components in the handle of Example 1 of the present invention (the handle completes energy storage after the trigger is pressed for the first time).

[0109] Figure 12 This is a schematic diagram of the action of the internal locking member of the handle of Example 1 of the present invention (when the locking member is pressed down, the unlocking pin moves).

[0110] Figure 13 This is a schematic diagram of the action of the internal locking member of the handle of Example 1 of the present invention (the locking member is unlocked).

[0111] FIG14 is a schematic diagram showing the positions of the components in the handle of Example 1 of the present invention (after pressing the trigger for the second time, preparing to release the puncture needle).

[0112] FIG15 is a schematic diagram of the lifting of the locking slider inside the handle of Example 1 of the present invention (after pressing the trigger for the second time, preparing to release the puncture needle).

[0113] Figure 16 This is a schematic diagram of the falling locking slider inside the handle of Example 1 of the present invention (puncture needle release completed).

[0114] Figure 17 Schematic diagram of the guide rod being limited by the travel adjustment block in the magazine according to embodiment 1 of the present invention.

[0115] Figure 18 Schematic diagram of a pushing component in a magazine being limited by a pushing locking component in embodiment 1 of the present invention.

[0116] Figure 19 This is a schematic diagram of the action of the push-shear mechanism according to embodiment 1 of the present invention (initial state, first position).

[0117] Figure 20 This is a schematic diagram of the action of the push shearing mechanism in Example 1 of the present invention (releasing the proximal anchor).

[0118] Figure 21 Schematic diagram of the action of the push-cutting mechanism (cutting the suture) in embodiment 1 of the present invention.

[0119] Figure 22Schematic diagram of the puncture needle piercing the tissue after release.

[0120] Figure 23 Schematic diagram of the release of the distal anchor after the puncture needle is retracted.

[0121] Figure 24 Schematic diagram of the proximal and distal anchors fixed in tissue.

[0122] Figure 25 This is a schematic structural diagram of a surgical system according to embodiment 2 of the present invention.

[0123] Figure 26 This is a schematic structural diagram of a three-dimensional rectal B-ultrasound imaging probe according to embodiment 2 of the present invention.

[0124] Figure 27 This is an exploded view of the magazine according to embodiment 2 of the present invention.

[0125] Figure 28 This is an exploded view of the conveying drive device according to embodiment 2 of the present invention.

[0126] Figure 29 This is a structural diagram of the conveying drive device according to embodiment 2 of the present invention.

[0127] Figure 30 Schematic diagram of the coordination between the delivery drive device and the magazine according to embodiment 2 of the present invention.

[0128] Figure 31 This is a structural schematic diagram of the first implementation of the magazine in Example 2 of the present invention.

[0129] Figure 32 This is a structural schematic diagram of the second embodiment of the magazine of Example 2 of the present invention.

[0130] Figure 33 This is one of the schematic diagrams of the puncture length adjustment structure of Example 2 of the present invention.

[0131] Figure 34 This is the second schematic diagram of the puncture length adjustment structure of Example 2 of the present invention.

[0132] Figure 35 This is the third schematic diagram of the puncture length adjustment structure of Example 2 of the present invention.

[0133] Figure 36 This is one of the schematic diagrams of the puncture needle retraction structure in Example 2 of the present invention.

[0134] Figure 37 This is the second schematic diagram of the puncture needle retraction structure of Example 2 of the present invention.

[0135] Figure 38 This is one of the schematic diagrams of unlocking the locking member in embodiment 2 of the present invention (locked state).

[0136] Figure 39 This is the second schematic diagram of unlocking the locking member in embodiment 2 of the present invention (unlocked state).

[0137] Figure 40 This is a schematic diagram of the action of the push-and-cut mechanism according to embodiment 2 of the present invention;

[0138] Figure 41 This is an exploded view of the magazine according to Example 3 of the present invention.

[0139] Figure 42 This is an exploded view of the conveying drive device of Example 3 of the present invention.

[0140] Figure 43 Schematic diagram of the coordination between the delivery drive device and the internal components of the magazine according to embodiment 3 of the present invention. DETAILED DESCRIPTION

[0141] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0142] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0143] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0144] In the description of the present invention, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0145] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0146] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise explicitly specified.

[0147] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0148] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0149] For the convenience of expression, the present invention is Figure 1 The left side is the front, the right side is the back, the top is the upper, and the bottom is the lower. The other two sides perpendicular to the front and back direction are divided into left and right. The surgical end of the instrument is the distal end, and the operating end of the instrument is the proximal end.

[0150] Example 1:

[0151] like Figure 1 An anchor delivery system shown includes a handle 100 and a magazine 200. The magazine 200 is mounted on the handle 100 in a detachable and replaceable manner. The handle 100 transfers its own stored mechanical energy to the magazine 200 to deliver the implant into the patient's body.

[0152] like Figure 3 The magazine 200 shown includes:

[0153] A puncture needle tube 224, in which a puncture needle 221 capable of moving back and forth is inserted, the proximal end of the puncture needle tube 224 is fixedly connected to the front end of the magazine body, and the distal end of the puncture needle tube 224 is fixedly connected to the head end component 222;

[0154] A push-pull tube 225, through which a shear rod 228 and a push rod 227 capable of moving back and forth are inserted, the proximal end of the push-pull tube 225 is fixedly connected to the front end of the magazine body, and a proximal anchor 400 capable of moving back and forth and being disengaged is provided in the distal opening of the push-pull tube 225, and the distal end of the push-pull tube 225 is fixedly connected to the head end component 222;

[0155] A puncture needle connector 208, the front portion of which is fixedly connected to the proximal end of a puncture needle 221. A suture 500 capable of moving back and forth is passed through the puncture needle 221. The proximal end of the suture 500 is fixedly connected to a suture holder 211. The suture holder 211 is mounted on the puncture needle connector 208 in a manner that allows it to slide back and forth. The distal end of the suture 500 is fixedly connected to the distal anchor 300.

[0156] A shearing member 212 is mounted in the magazine body in a manner that allows it to slide back and forth. The shearing member 212 is fixedly connected to the proximal end of a shearing rod 228, and the distal end of the shearing rod 228 is connected to the blade 223. Driven by the shearing member 212, the shearing rod 228 pulls the blade 223 backward to complete the shearing action;

[0157] A pushing member 213 is mounted in the magazine body in a manner that allows it to slide back and forth. The pushing member 213 is fixedly connected to the proximal end of a pushing rod 227. The pushing rod 227 pushes the proximal anchor 400 forward under the drive of the pushing member 213. The shearing member 212 and the pushing member 213 are arranged in front of each other and are connected by a tension spring 233 so that the two are pulled toward each other;

[0158] A support member 214 is installed between the shearing member 212 and the pushing member 213. The front and rear ends of the support member 214 can move and have two position states: when the support member 214 is in the first position, its front end limits the backward movement of the shearing member 212, and its rear end does not limit the pushing member 213; when the support member 214 is in the second position, its rear end limits the forward movement of the pushing member 213, and its front end does not limit the shearing member 212.

[0159] like Figure 7 As shown, it also includes a support tube 226, which has a semicircular cross-section for mating with the endoscope tube. Its upper and lower sides are respectively used to fix the puncture needle tube 224 and the push-pull tube 225. The head end component 222 is provided with an arc-shaped channel connected to the distal end of the puncture needle tube 224, so that the puncture needle 221 can be bent and extended from one side thereof for puncture.

[0160] This embodiment preferably further includes a stroke adjustment mechanism installed in the magazine body for preventing the puncture needle connector 208 from moving forward to control the puncture length.

[0161] This embodiment is preferred, as Figure 9 and Figure 16 As shown, the stroke adjustment mechanism includes a stroke adjustment member 209, which is located in a slide groove of the magazine body and can slide back and forth. The stroke adjustment member 209 is connected to the stroke adjustment cap 204 on the outside of the magazine body via a threaded rod 205. The threaded rod 205 is threadedly connected to the magazine body. The stroke adjustment member 209 is sleeved on the rear end of the threaded rod 205. The stroke adjustment cap 204 is installed at the front end of the threaded rod 205 and can rotate the threaded rod 205. When the stroke adjustment cap 204 rotates, it drives the threaded rod 205 to rotate, thereby controlling the stroke adjustment member 209 to move back and forth along the threaded rod 205. In this way, the blocking position of the stroke adjustment member on the puncture needle connector can be adjusted by rotating the threaded rod, thereby achieving puncture length adjustment. The structure is simple and the adjustment is convenient.

[0162] Further preferably, the stroke adjustment mechanism further includes a buffer pin 206 and an in-place indication cap 203. The threaded rod 205 is a hollow rod with a central hole. The threaded rod 205 is loosely sleeved on the buffer pin 206. The front end of the buffer pin 206 extends beyond the threaded rod 205 and the stroke adjustment cap 204, and is fixedly connected to the in-place indication cap 203. The rear end of the buffer pin 206 extends beyond the threaded rod 205 and is imparted with a buffering tendency by a spring. The buffer pin 206 can slide back and forth within the stroke adjustment member 209 and can abut against the limiting boss 2083 on the puncture needle connector 208. In this way, when the puncture needle connector moves forward, it strikes the buffer pin and fully pushes the buffer pin into the stroke adjustment member, stopping its sliding. Simultaneously, the buffer pin pushes out the in-place indication cap. The buffer pin not only provides a buffering limit for the puncture needle connector, but also facilitates the doctor's quick determination of whether the puncture was successful.

[0163] More preferably, the stroke adjustment mechanism further includes a stroke scale rod 207. The front end of the stroke scale rod 207 is axially fixed to the front end of the threaded rod 205 and can rotate relative to it. The rear end of the stroke scale rod 207 passes through a through hole provided at the front end of the magazine body and is connected to the stroke adjustment member 209 within the magazine body. The stroke scale rod 207 is provided with scale markings corresponding to various puncture lengths. In this way, when the threaded rod moves forward and backward, the stroke scale screw rod moves accordingly to display the scale, which is simple and intuitive, and convenient for quick and easy adjustment of the puncture length.

[0164] In this embodiment, the travel scale rod 207 is made of a bent metal rod, and its front end is bent into an annular ring and arranged on the front part of the threaded rod 205. The flange on the threaded rod 205 cooperates with the travel adjustment cap 204 to clamp the front end annular ring of the travel scale rod 207.

[0165] This embodiment is preferred, as Figure 4 and Figure 5 As shown, the suture holder 211 is mounted within the lumen of the puncture needle connector 208. A guide rod 210 passes through the lumen of the puncture needle connector 208 and is capable of sliding forward and backward with the suture holder 211. A spring 232 is sleeved on the guide rod 210 to impart a backward movement tendency to the suture holder 211. The suture holder 211 is sleeved on the guide rod 210. One end of the spring 232 abuts against the suture holder 211 and the guide rod 210, while the other end of the spring 232 abuts against the puncture needle connector 208. A hook 2091 is provided on the travel adjuster 209. The hook 2091 engages with a groove 2101 provided on the guide rod 210, thereby limiting the backward movement of the guide rod 210. In this way, after the puncture needle is released and the puncture is completed, the hook limits the guide rod and the suture fixing seat to move backward together with the puncture needle connector, which can ensure that the distal anchor can be released from the distal end of the puncture needle; by setting a spring, the suture can be effectively tensioned, making it easier to release the proximal anchor.

[0166] In this embodiment, the proximal end of the suture 500 is connected to a suture support tube 231 to facilitate the push-pull movement of the suture and the connection with the suture fixing seat. The suture support tube is fixed to the suture fixing seat and is crimped and fixed to the suture.

[0167] The shearing component 212, the pushing component 213, the supporting component 214 and their connecting structure form a pushing and shearing mechanism for driving the pushing rod 227 to push the proximal anchor 400 to clamp and fix the suture and for driving the shearing rod 228 to drive the blade 223 to cut the suture.

[0168] This embodiment is preferred, as Figure 9 and Figure 19 As shown, the middle portion of the support member 214 is hingedly connected to the magazine body via a hinge pin 230. A limiting post 2144 is provided below the front end 2141 of the support member 214. This not only prevents the support member 214 from excessively rotating, but also allows for a compression spring to be provided between the support member 214 and the magazine body to force the support member 214 back to its first position. The rear end of the support member 214 includes a first limiting end 2142 and a second limiting end 2143. The two limiting ends are V-shaped, with the first limiting end 2142 always blocking the front of the pushing member 213. This allows the pushing member 213 to promptly push the support member 214 to rotate and limit its position when it moves forward.

[0169] In this embodiment, the support member 214 has an engaged position in which it engages with the shearing member 212, such that the support member 214 can prevent the shearing member 212 from sliding toward the pushing member 213, and a disengaged position in which it disengages from the shearing member 212, such that the support member 214 allows the shearing member 212 to slide toward the pushing member 213. The pushing member 213 is configured to slide into contact with the support member 214 and cause the support member 214 to pivot and disengage from the shearing member 212.

[0170] More preferably, the pushing component 213 and the shearing component 212 slide along the same straight line, and the tension spring 233 is always in a stretched state. The tension released by the tension spring 233 pulls the shearing component 212 and the pushing component 213 toward each other.

[0171] The push shearing mechanism further includes a push locking member 215 disposed within the magazine body. When the push locking member 215 is in an initial position, it is connected to the push component 213 so that the push component 213 is locked and cannot be moved.

[0172] The push locking member can be a locking pin, a locking key or other parts or structures with a locking function.

[0173] This embodiment is preferred, as Figure 18 As shown, the push lock member 215 has a hook portion 2151 that engages with the latch portion on the push member 213 to achieve positional locking. The push lock member 215 also has a release portion 2152. The shear trigger lever 113 on the handle pushes the release portion 2152 to move the push lock member 215 left and right, thereby unlocking the push member 213 and implementing suture fixation and cutting.

[0174] In this embodiment, three manual push knobs are slidably provided on the outside of the magazine housing. The first manual push knob 216 extends into the magazine housing and is fixedly connected to the puncture needle connector 208. The second manual push knob 217 extends into the magazine housing and is fixedly connected to the shearing member 212. The third manual push knob 218 extends into the magazine housing and is fixedly connected to the pushing member 213. In this way, when the internal structure of the magazine is stuck, the movement of the puncture needle connector, pushing member, and shearing member inside the magazine can be controlled by moving the manual push knobs on the outside of the magazine housing.

[0175] In this preferred embodiment, the magazine housing 201 is fixed with a cover plate 202, and the two are fixedly connected by a snap-fit ​​structure. The cover plate 202 has three slide slots, and three manual push buttons move forward and backward along the three slide slots. The three manual push buttons are respectively fixedly connected to the puncture needle connector, the shearing component, or the pushing component 213 by the snap-fit ​​structure.

[0176] like Figure 2 The handle 100 shown includes:

[0177] An energy storage slider 106 is disposed within the handle housing in a manner capable of sliding forward and backward and is connected to and moves synchronously with the puncture needle connector 208 in the magazine. The energy storage slider 106 is connected to the handle housing via an energy storage spring 119, thereby imparting a tendency for forward movement. The energy storage slider 106 is connected to the handle housing via a pawl mechanism, thereby restricting forward movement. When the energy storage slider 106 moves backward into position, the pawl mechanism is disabled, thereby allowing the energy storage slider 106 to move forward rapidly under the action of the energy storage spring;

[0178] A trigger component 103 is disposed in the handle housing in a manner capable of sliding back and forth. The trigger component 103 is given a tendency to move forward by a trigger spring 125. A sliding push block 104 capable of sliding up and down is disposed on the trigger component 103. The sliding push block 104 can be connected to or disconnected from the energy storage slider 106. When the sliding push block 104 is connected to the energy storage slider 106, the trigger component 103 can drive the energy storage slider 106 to move backward. When the trigger component 103 moves backward into position, the sliding push block 104 is disconnected from the energy storage slider 106, and the trigger component 103 cannot drive the energy storage slider 106 to move.

[0179] A locking member 111 is arranged in the handle housing in a manner that can slide up and down. The locking member 111 has a locked position and an unlocked position: when the locking member 111 is in the locked position, the locking member 111 can limit the trigger component 103 from moving backward, and the pawl mechanism of the energy storage slider 106 is effective, thereby limiting its forward movement; when the locking member 111 is in the unlocked position, the trigger component 103 can move backward, thereby causing the pawl mechanism of the energy storage slider 106 to fail, and the sliding push block 104 to disengage from the energy storage slider 106.

[0180] In this way, by arranging the locking part to cooperate with the trigger part to implement puncture, the risk of misoperation of the trigger single part is avoided, the operation is convenient, and the reliability is good.

[0181] In this preferred embodiment, the handle housing comprises a lower housing 101 and an upper housing 102 fixedly connected together. The upper housing 102 is provided with a magazine compartment for accommodating a magazine. Both the upper housing 102 and the magazine compartment are provided with a slot for a connecting post 2082 on the puncture needle connector 208 to pass through. The connecting post 2082 engages with a slot on the energy storage slide 106 to achieve synchronous movement of the puncture needle connector 208 and the energy storage slide 106.

[0182] An endoscope connecting piece 122 and an endoscope locking piece 123 are respectively provided at the front and rear ends of the handle housing for connecting an endoscope.

[0183] In this embodiment, the magazine cover 202 is preferably provided with a locking button seat 219 and a locking button 220. The locking button seat 219 is fixedly connected to the cover 202 or formed integrally therewith. The locking button 220 is slidably mounted on the cover 202. The locking button seat 219 and the locking button 220 are abutted against each other by a compression spring 229, thereby imparting a tendency for the locking button 220 to be ejected. When the locking button is ejected, it is fixedly connected to the magazine housing 201 via a snap-fit ​​structure. Thus, when an external force is applied to the locking button, the snap-fit ​​structure of the locking button retracts, allowing the magazine to be loaded into the magazine compartment of the handle. When the external force applied to the locking button is removed, the locking button is locked into the handle under the action of the compression spring, completing magazine loading. The puncture needle connector is then fixedly engaged with the energy storage slider.

[0184] In this embodiment, the sliding push block 104 is preferably connected to the trigger component 103 via a compression spring 117. In a natural state, the sliding push block 104 is in an ejected state under the thrust of the compression spring, so that it can be connected to the energy storage slider 106. In other embodiments, the sliding push block can also be connected to the trigger component via a tension spring or the like.

[0185] In this embodiment, a guide shaft 105 is fixed to the lower housing 101, the energy storage slider 106 is sleeved on the guide shaft 105 and can slide back and forth along the guide shaft 105, and the energy storage spring 119 is a compression spring sleeved on the guide shaft 105. In other embodiments, the energy storage spring can also be a tension spring.

[0186] In this embodiment, the trigger member 103 preferably slides forward and backward by means of slides provided on its left and right sides, cooperating with the slide grooves on the lower housing 101 and the upper housing 102. The trigger spring 125 is a tension spring that passes through a through hole in the trigger member 103. The ends of the tension spring are connected to the trigger member and the handle housing, respectively, via connecting pins. In other embodiments, the trigger spring may also be a compression spring.

[0187] In this embodiment, the pawl mechanism preferably includes a retaining block 107, a locking slider 108, and a connecting rod 109. The retaining block 107 and the locking slider 108 are each slidably mounted on the energy storage slider 106. One end of the retaining block 107 is hinged to one end of the connecting rod 109, and the other end of the connecting rod 109 is hinged to one end of the locking slider 108. The other end of the locking slider 108 can be pushed out or retracted. When the locking slider 108 is pushed out, it can cooperate with the ratchet on the first limiter 1011 to limit the forward movement of the energy storage slider 106. When the locking slider 108 is retracted, the pawl mechanism is disabled. The retaining block 107 is connected to the energy storage slider 106 via a retaining spring 118, so that the retaining block 107 imparts a tendency for the locking slider 108 to maintain the tendency to be pushed out or retracted. In this way, the structure is simple and reasonable, the unidirectional stepping motion of the energy storage slider is highly reliable, and release and release are convenient.

[0188] More preferably, the retaining block 107 is mounted on the energy storage slider 106 in a manner that allows it to slide back and forth, and the locking slider 108 is mounted on the energy storage slider 106 in a manner that allows it to slide up and down, with the lower end of the locking slider 108 being able to be pushed out or retracted. In other embodiments, the locking slider can also be pushed out from above or from the left or right sides of the energy storage slider and cooperate with corresponding ratchets on the handle housing to achieve unidirectional stepping motion.

[0189] In this embodiment, in the initial state, the holding block 107 pushes the connecting rod 109 to pivot, pushing the locking slider 108 to move downward, so that the locking slider 108 is located at and maintained in the ejected position.

[0190] Further preferably, the retaining spring 118 is a compression spring, which is arranged in a slide groove on the handle housing for arranging the retaining block 107. In other embodiments, the retaining spring can also be a tension spring.

[0191] In this embodiment, the locking slider 108 and the connecting rod 109 are preferably hingedly connected by a hinge pin 110. One end of this hinge pin 110 extends into a slot 1022 in the handle housing. This slot 1022 is provided on either the upper or lower handle housing. The rear end of the slot 1022 is formed into a rising ramp. When the hinge pin 110 moves rearward to this point, it is lifted, and the locking slider 108 remains retracted. The front portion of the slot 1022 is provided with a descending ramp 2092 formed on the stroke adjustment member 209. When the hinge pin 110 moves forward to this point, it is depressed, and the locking slider 108 remains extended. In this embodiment, the slot 1022 is provided in the magazine compartment wall of the upper housing 102. Another slot 1021 is also provided in the magazine compartment wall of the upper housing 102 to allow the connecting post 2082 on the puncture needle connector 208 in the magazine to extend into the handle housing and connect with the energy storage slider.

[0192] In this embodiment, when the trigger member 103 moves backward, the sliding block 104 abuts against the sloped boss on the first stopper 1011 and moves downward, thereby disengaging from the energy storage slider 106. The first stopper 1011 is fixedly connected to the lower housing 101 or is integrally formed.

[0193] In this embodiment, the locking member 111 is preferably connected to the lower shell 101 by a spring 124 so as to be given a tendency to move upward, and a locking boss 1111 is provided on the locking member 111 for limiting the backward movement of the trigger member 103, and the locking boss 1111 is protruding forward; an unlocking pin 112 that can slide back and forth is installed on the locking member 111, and the unlocking pin 112 is pushed forward by the compression spring 121 against the locking member 111; when the unlocking pin 112 is pushed forward and inserted into the limiting groove on the second limiting member 1012, the locking member 111 is in the locked position, and the locking boss 111 is in the locked position. 111 can abut against the protrusion at the rear end of the trigger member 103, thereby limiting the rearward movement of the trigger member 103. When the unlocking pin 112 is pushed forward and abuts against the limiting protrusion on the second limiting member 1012, the locking member 111 is in the unlocked position. The locking protrusion 1111 and the protrusion at the rear end of the trigger member 103 are vertically offset, no longer limiting the rearward movement of the trigger member 103. When the trigger member 103 continues to move backward into position, the protrusion at the rear end of the trigger member 103 pushes the unlocking pin 112 back, and the locking member 111 moves upward under the action of the spring to return to the locked position. The limiting groove and limiting protrusion on the second limiting member 1012 are arranged vertically and are transitioned by a slope. The second limiting member 1012 is fixedly connected to the lower housing 101 or integrally formed. The spring 124 is a tension spring or a compression spring. In this way, the lock is unlocked by pressing the locking member, and the trigger member is used to trigger the puncture and push back the unlocking pin to achieve re-locking, avoiding the risk of misoperation of re-puncture.

[0194] In this embodiment, the locking member 111 is initially in the locked position. A compression spring 121 and a retaining spring 120 are sleeved around the unlocking pin 112. The retaining spring 120 engages within the retaining groove of the unlocking pin 112, with the ends of the compression spring 121 respectively abutting against the locking member 111 and retaining spring 120. Thus, the compression spring applies an outward thrust to the unlocking pin, causing the unlocking pin 112 to engage with the retaining groove of the second retaining member 1012, thereby maintaining the locking member 111 in the locked position.

[0195] In this embodiment, the handle is preferably provided with a shearing trigger rod 113 and an elastic stopper. The shearing trigger rod 113 is mounted in the handle housing in a manner that allows it to slide up and down. The shearing trigger rod 113 is fixedly connected to a shearing push button 115 that is slidably disposed outside the handle housing. The elastic stopper is used to lock the shearing trigger rod 113 to prevent it from moving up and down. When the trigger component 103 moves backward into position, it pushes against the elastic stopper to unlock, thereby allowing the shearing trigger rod 113 to move up and down. The shearing trigger rod 113 pushes the release portion 2151 on the push locking member 215 to move the push locking member 215 left and right, thereby unlocking the push component 213 and allowing the push shearing mechanism to clamp and cut the suture. In this way, the push shearing mechanism can only be activated after the trigger component moves backward into position, ensuring that the distal anchor is released and the suture is tensioned before the suture is clamped and cut, thereby avoiding the risk of surgical misoperation.

[0196] Further preferably, both the handle housing and the magazine housing are provided with a through-hole through which the shear trigger rod 113 passes. The upper portion of the shear trigger rod 113 is U-shaped, with one end extending through the through-hole into the magazine to unlock the push-locking member 215, while the other end cooperates with the locking member 111 to limit position: when the locking member 111 is in the unlocked position, the locking member 111 can restrict the upward movement of the shear trigger rod 113; when the locking member 111 is in the locked position, the shear trigger rod 113 is not restricted. In this way, the push-shear mechanism can only be activated when the locking member is locked, avoiding the surgical risks caused by the push-shear mechanism malfunctioning during puncture.

[0197] Further preferably, the shear trigger rod 113 is installed in a slide groove formed by the upper shell 102 and the lower shell 101 and can slide up and down. It is connected to the shear push button 115 through a snap-fit ​​structure. The elastic stopper is an elastic stop bar 114. The elastic stop bar 114 is V-shaped. One end of the elastic stop bar 114 is fixed in the slot of the lower shell 101, and the other end of the elastic stop bar 114 is inserted into the slot on the shear trigger rod 113. When the shear trigger rod 113 is in the initial position, the elastic stop bar 114 contacts the boss of the lower shell 101, locking the shear trigger rod 113 so that it cannot move. When the trigger component 103 moves back into place, the elastic stop bar 114 is compressed, and the other end of the elastic stop bar 114 withdraws from the slot on the shear trigger rod 113, allowing the shear trigger rod 113 to move up and down.

[0198] The present invention also discloses a method for delivering an anchor member, which uses the above-mentioned anchor member delivery system and includes the following steps:

[0199] 1) Applying external force to the trigger component 103 for the first time causes the trigger component 103 to move the energy storage slider 106 and the puncture needle connector 208 backward to store energy;

[0200] 2) Press the locking member 111 to unlock;

[0201] 3) Continue to apply external force to the trigger component 103, the energy storage slider 106 drives the puncture needle connector 208 to move forward and fire, the puncture needle 221 and the distal anchor 300 extend out of the head end component 222 at the distal end of the puncture needle tube 224, the locking member 111 returns to its original position, and the external force applied to the trigger component 103 is removed to reset it;

[0202] 4) Applying external force to the trigger component 103 again causes the trigger component 103 to move the energy storage slider 106 and the puncture needle connector 208 backward to retract the puncture needle 221 and tighten the suture;

[0203] 5) Push the shear push button 115 to unlock the pushing component 213, which pulls the pushing component 213 toward the shearing component 212, pushing the proximal anchor out of the head end component 222 at the distal end of the puncture needle tube 224, and the pushing component 213 is limited by the support component 214, unlocking the shearing component 212, which pulls the shearing component 212 toward the pushing component 213, driving the shear rod and the blade to cut the suture.

[0204] The specific action coordination process of the above-mentioned anchor delivery system is described as follows:

[0205] Apply external force to the locking button, and the buckle structure of the locking button retracts, and the magazine can be loaded into the magazine compartment of the handle. Remove the external force applied to the locking button, and the locking button is locked into the handle under the action of the compression spring. At this time, the magazine loading is completed, and the puncture needle connector 208 is fixed to the energy storage slider 106. Figure 6 shown.

[0206] Rotate the stroke adjustment cap 204 to drive the threaded rod 205 to rotate. At this time, the stroke adjustment member 209 can move forward and backward according to the rotation of the threaded rod 205, and drive the stroke scale screw rod to move at the same time. After confirming the position of the stroke scale screw rod, stop rotating the stroke adjustment cap 204. Figure 9 shown.

[0207] like Figure 10 As shown, when an external force is applied to the trigger component 103, it slides backward along the slide groove from the initial state of the first position, driving the sliding push block 104 to contact the energy storage slider 106, and driving the energy storage slider 106 to move backward at the same time until the trigger component 103 contacts the locking member 111. At this time, the trigger component 103 is limited by the locking member 111 and cannot continue to slide backward. Figure 11 As shown, the locking slider 108 is engaged with the ratchet structure in the lower shell 101 at the same time. At this time, the energy storage slider 106 is located in the second position, and the compression spring completes the accumulation of mechanical energy. At this time, the external force applied to the trigger component 103 is removed, and under the tension of the tension spring, the trigger component 103 is reset to the first position.

[0208] like Figure 12As shown, downward pressure is applied to the locking member 111, the locking member 111 slides downward, and the unlocking pin 112 is compressed until it continues to slide downward to the unlocking position. The compression spring drives the unlocking pin 112 to pop out and engage with the limiting protrusion on the second limiting member 1012, fixing the locking member 111, and completing the unlocking of the trigger member 103. Figure 13 External force is applied to the trigger component 103 again, and the trigger component 103 moves backward from the first position again. When the sliding push block 104 contacts the energy storage slider 106 again, it can drive the energy storage slider 106 to continue to slide backward. The trigger component 103 continues to slide backward until it contacts the unlocking pin 112 and continues to move, compressing the unlocking pin 112 until the sliding push block 104 contacts the trapezoidal boss (slope boss) on the first limit member. During the backward sliding process, the trapezoidal boss exerts a downward pressure on the sliding push block 104, pressing the sliding push block 104 to the second position. At this time, the sliding push block 104 is released from the energy storage slider 106, as shown in Figure 14, and the slider is locked at the same time. 108 is lifted up and maintained in the second position (retracted state) under the action of the lifting slope of the slide groove 1022 on the handle shell, as shown in Figure 15. At this time, the locking slider 108 is unlocked from the ratchet structure on the first limit member, and the energy storage slider 106 loses all locks and slides forward rapidly under the action of the compression spring, and drives the puncture needle connector 208 to slide forward. The puncture needle connector 208 drives the suture fixing seat 211 and the guide rod 210 to slide forward until the puncture needle connector 208 contacts the buffer pin 206 and drives it to continue to slide forward. The buffer pin 206 drives the in-place prompt cap 203 to slide forward until the buffer pin 206 contacts the stroke adjustment member 209. Figure 22 As shown, the puncture is completed, and the in-place prompt cap 203 is fully popped out, indicating that the puncture is in place, and the energy storage slider 106, the puncture needle connector 208, the suture fixing seat 211 and the guide rod 210 all stop sliding and are in the second position. When the locking slider 108 slides forward to the position, it is pushed downward under the action of the descending slope of the slide groove 1022 on the handle housing, and returns to and remains in the first position, as shown. Figure 16 When the external force applied to the trigger member 103 is removed, the trigger member 103 returns to the first position again under the action of the tension spring, and the unlocking pin 112 is compressed in the locking member 111, losing the restraining force on the locking member 111. Under the action of the compression spring, the locking member 111 slides upward, and the unlocking pin 112 pops out again under the action of the compression spring and is fixed in the limiting groove of the lower housing 101. The locking member 111 returns to the first position (locked position) again, thus locking the trigger member 103.

[0209] Apply external force to the trigger component 103 again, the trigger component 103 slides backward, the sliding push block 104 drives the energy storage slider 106 to move backward again, the energy storage slider 106 drives the puncture needle connector 208 to slide backward, and the puncture needle connector 208 drives the suture fixing seat 211 and the guide rod 210 to slide backward. Figure 17 As shown, when the slot of the guide rod 210 moves to the hook of the stroke adjustment member 209 and engages, the guide rod 210 and the suture fixing seat 211 stop moving backward, and the puncture needle connector 208 continues to retreat to complete the release of the distal anchor until the trapezoidal boss 2081 on the puncture needle connector 208 lifts the hook of the stroke adjustment member 209, releasing the guide rod 210 to continue sliding backward and tightening the suture. At this time, the puncture needle is completely retracted and the distal anchor is released. Figure 23 shown.

[0210] like Figure 18 and Figure 19 As shown, in the initial state, the push locking member 215 is connected to the push member 213, so that the push member 213 is locked and cannot move. When the trigger member 103 moves backward, the elastic stop bar 114 is squeezed into the card slot of the lower shell 101 and the shear trigger rod 113 is unlocked at the same time. The trigger member 103 is continuously applied with external force, and an upward thrust is applied to the shear push button 115, which drives the shear trigger rod 113 to move upward from the first position to the second position until the shear trigger rod 113 contacts the push locking member 215 and pushes the push locking member 215 away, causing it to slide sideways until the hook portion of the push locking member 215 is disengaged from the push member 213. Figure 20 As shown, at this time, the tension spring 233 pulls the pushing member 213 toward the shearing member 212, pushing the proximal anchor member forward until the pushing member 213 collides with the support member 214, causing the support member 214 to pivot to unlock the shearing member 212, as shown in FIG. Figure 21 As shown, under the action of the tension spring, the shearing component 212 slides toward the pushing component 213, driving the shear rod to complete the shearing. If the structure jams during this process and the action cannot be completed smoothly, manual operation can be performed by manually pushing and twisting. When the thrust on the shear push button 115 is removed, it returns to the first position under the action of the compression spring. When the external force on the trigger component 103 is removed, it returns to the first position again under the action of the tension spring. At this time, the energy storage slider 106 remains in the second position under the action of the locking slider 108, maintaining the energy storage state. The elastic stop bar 114 loses the external force and returns to its original state, continuing to lock the shear trigger rod 113.

[0211] After that, the magazine is replaced, the handle parts have been reset, the energy storage slide 106 is in the energy storage position, and the next round of puncture can be carried out directly after loading a new magazine. Figure 24 shown.

[0212] Example 2:

[0213] like Figure 25 and Figure 26 As shown, a surgical system comprises:

[0214] A robotic arm 700 is provided with an anchor delivery system, which includes a magazine 200 for delivering and releasing implants and a delivery drive 600 for driving the magazine to perform corresponding actions;

[0215] 3D rectal B-ultrasound imaging probe 800;

[0216] The host computer is connected to the robot arm 700 and the three-dimensional rectal B-ultrasound imaging probe 800 via data cables. A control operating system is installed on the host computer, which is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robot arm 700.

[0217] The difference between this embodiment and embodiment 1 is that: embodiment 1 is a manual suspension system for manually performing prostate suspension surgery, while this embodiment is an automated suspension system that can automatically perform prostate suspension surgery after the treatment plan is determined. The implantation position and angle of the implant are determined by three-dimensional B-ultrasound imaging, and the mechanical energy is transferred to the implant box by controlling the delivery drive device through a robotic arm to deliver and release the implant into the patient's body.

[0218] Manual suspension systems require endoscope observation during operation. However, due to the need to release the puncture needle at the front of the suspension system, the endoscope's field of view is very narrow, only partially visible. This makes it difficult for the doctor to determine the optimal release position during operation, affecting surgical efficiency and effectiveness. The automated suspension system uses rectal ultrasound to perform 3D scanning and imaging of the prostate, allowing the doctor to most intuitively determine the release position and angle.

[0219] Manual suspension systems require doctors to adhere to strict requirements for compression angles and release zones when releasing the anchoring system. These requirements are difficult for doctors to achieve based on subjective judgment, often resulting in release failures or suboptimal results. Automated suspension systems use ultrasound to image and locate the prostate in 3D, then automatically calculate the optimal position and angle based on an algorithm, making the procedure more convenient and the release more precise.

[0220] Manual prostate suspension systems rely heavily on the surgeon's experience, and this knowledge is difficult to quickly transfer to other surgeons, hindering the rapid and widespread adoption of this procedure. Automated suspension systems, combined with improved algorithms and extensive case data storage, can automatically optimize the release of the system, further facilitating standardized surgical procedures.

[0221] Manual suspension systems generate a significant amount of medical waste after surgery. The automated suspension system's release mechanism, which does not touch the body, is reusable, reducing waste by nearly 50%. Since only the implant clip is consumed during surgery, patients spend less on consumable handles.

[0222] In this embodiment, the robot arm 700 is preferably connected to the delivery drive device 600 via a connecting fixture, and the delivery drive device 600 is connected to the implant magazine (magazine 200) via a snap-fit ​​structure.

[0223] The implant magazine (magazine 200) can be the magazine of embodiment 1, but it adopts manual adjustment of puncture length, which is not compatible with the automated operation of the surgical system of this embodiment. Figure 27 As shown, the magazine 200 includes:

[0224] A puncture needle tube 224, in which a puncture needle 221 capable of moving back and forth is inserted, the proximal end of the puncture needle tube 224 is fixedly connected to the front end of the magazine body 201, and the distal end of the puncture needle tube 224 is fixedly connected to the head end component 222;

[0225] A push-pull tube 225, through which a shear rod 228 and a push rod 227 capable of moving back and forth are inserted, the proximal end of the push-pull tube 225 is fixedly connected to the front end of the magazine body 201, and a proximal anchor 400 capable of moving back and forth and being released is provided in the distal opening of the push-pull tube 225, and the distal end of the push-pull tube 225 is fixedly connected to the head end component 222;

[0226] A puncture needle connector 208, the front portion of which is fixedly connected to the proximal end of a puncture needle 221. A suture 500 capable of moving back and forth is passed through the puncture needle 221. The proximal end of the suture 500 is fixedly connected to a suture holder 211. The suture holder 211 is mounted on the puncture needle connector 208 in a manner that allows it to slide back and forth. The distal end of the suture 500 is fixedly connected to the distal anchor 300.

[0227] A shearing member 212 is mounted in the magazine body in a manner that allows it to slide back and forth. The shearing member 212 is fixedly connected to the proximal end of a shearing rod 228, and the distal end of the shearing rod 228 is connected to the blade 223. Driven by the shearing member 212, the shearing rod 228 pulls the blade 223 backward to complete the shearing action;

[0228] A pushing member 213 is mounted in the magazine housing 201 in a manner that allows it to slide back and forth. The pushing member 213 is fixedly connected to the proximal end of a pushing rod 227. The pushing rod 227 pushes the proximal anchor 400 forward under the drive of the pushing member 213. The shearing member 212 and the pushing member 213 are arranged in front of each other and are connected by a tension spring 233 so that the two are pulled toward each other;

[0229] A support member 214 is installed between the shearing member 212 and the pushing member 213. The front and rear ends of the support member 214 can move and have two position states: when the support member 214 is in the first position, its front end limits the backward movement of the shearing member 212, and its rear end does not limit the pushing member 213; when the support member 214 is in the second position, its rear end limits the forward movement of the pushing member 213, and its front end does not limit the shearing member 212.

[0230] Similar to Example 1, the tension spring 233 is constantly in tension, and the released tension pulls the shearing member 212 and the pushing member 213 toward each other. The support member 214 is pivotally mounted within the magazine housing 201 via a hinge pin 230. In its natural state, its front end presses against the shearing member 212, locking it in place and preventing it from moving. Both the shearing member 212 and the pushing member 213 are connected to manual push knobs 217 and 218 via a snap-fit ​​mechanism. The shearing rod 228 and the pushing rod 227 are configured to slide within the push-pull tube 225. A guide rod 210 is mounted on the puncture needle connector 208, and a suture holder 211 is mounted on the guide rod 210 and can move forward and backward. The proximal end of the suture 500 is connected to a suture support tube 231, which is secured to the suture holder 211. An axially rotatable push locking member 215 is provided in the magazine body 201 . When the push locking member 215 is in the initial position, it is engaged with the push component 213 , so that the push component 213 is locked by the push locking member 215 and cannot move.

[0231] This embodiment is preferred, as Figure 28 and Figure 29 As shown, the conveying drive device 600 includes:

[0232] A mounting plate 613, the mounting plate 613 is used to connect the robot arm 700;

[0233] A slider connecting block 610 is slidably mounted on a mounting plate 613 and driven forward and backward by a servo motor 606. The slider connecting block 610 is connected to the puncture needle connector 208 in the magazine 200 and moves synchronously.

[0234] A driving member 603 is connected to the push locking member 215 and is used to unlock the push shearing mechanism, release the proximal anchor, and implement the clamping and cutting of the suture.

[0235] In this embodiment, the servo motor 606 drives the slider connecting block 610 to move forward and backward through the screw rod 604. The screw rod 604 is installed on the mounting plate 613 through the screw rod support block 607 and the screw rod fixing block 611. The screw rod support block 607 is connected to the mounting plate 613 by screws. The front end of the screw rod 604 is fixed in the screw rod support block 607, the screw rod fixing block 611 is connected to the mounting plate 613 by screws, and the rear end of the screw rod 604 is fixed in the screw rod fixing block 611. The rear end of the screw rod 604 passes through the screw rod fixing block 611 and is connected to the coupling 605; the servo motor 606 is fixed on the mounting plate 613 through the motor mounting block 612, and the motor mounting block 612 is connected to the mounting plate 613 by screws, and the rotor of the servo motor 606 is connected to the coupling 605; a screw slider 608 is sleeved on the screw rod 604 and fixedly connected to the slider connecting block 610. The screw slider 608 and the slider connecting block 610 can move back and forth under the rotation of the screw rod 604.

[0236] In this embodiment, the slider connecting block 610 is preferably mounted on a guide rod 614 via a bearing 609. The slider connecting block 610 can slide back and forth along the guide rod 614, and the guide rod 614 is fixedly mounted on the mounting plate 613. In other embodiments, the slider connecting block 610 can also be connected to the mounting plate 613 through a guide rail or track for guiding sliding.

[0237] In this embodiment, a cylinder 602 is preferably fixed to the mounting plate 613. The piston rod of the cylinder 602 is connected to the driving member 603, thereby driving the driving member 603 to move up and down. The driving member 603 pulls the push locking member 215 to unlock the push shear mechanism. In other embodiments, the driving member 603 can also be driven by an electromagnet or a motor.

[0238] In this preferred embodiment, the mounting plate 613 is fixedly connected to the connecting fixture on the robotic arm 700 via screws; the mounting plate 613 is also fixedly connected to the bottom housing 601 via screws. The mounting plate 613 and bottom housing 601 form an internal space for accommodating the servo motor 606, screw rod 604, slider connecting block 610, and driver 603. The servo motor 606, screw rod 604, slider connecting block 610, and driver 603 are mounted on the inner side of the mounting plate 613. The outer side of the mounting plate 613 is provided with a mounting slot for mounting a magazine. In this preferred embodiment, the magazine housing 201 is provided with a snap-fit ​​structure that mates with the mounting slot on the mounting plate 613 for fixed connection, facilitating quick and easy magazine installation and replacement.

[0239] This embodiment is preferred, as Figure 30 As shown, the connecting post 2082 on the puncture needle connector 208 passes through the window on the magazine body 201 and the mounting plate 613, and is engaged with the slot 6101 on the slider connecting block 610 for synchronous movement. The release portion 2151 on the push lock member 215 passes through the window on the magazine body 201 and the mounting plate 613 to connect with the driver 603. In other embodiments, an extension rod can be provided on the slider connecting block 610 and / or the driver 603 to be inserted into the magazine to drive the corresponding components.

[0240] This embodiment no longer has the stroke adjustment mechanism of Example 1. In this embodiment, a positioning member 234 for applying a positioning force to the suture holder 211 is preferably provided in the magazine body 201. When the suture holder 211 moves to a specific position, the positioning member 234 applies a positioning force to the suture holder 211. When the moving force applied to the suture holder 211 is not greater than the positioning force applied by the positioning member 234, the suture holder 211 remains stationary. When the moving force applied to the suture holder 211 is greater than the positioning force applied by the positioning member 234, the suture holder 211 moves. In this way, the provision of the positioning member can effectively control the relative movement between the suture holder and the puncture needle connector 208, thereby ensuring that the distal anchor is reliably released after the puncture needle is inserted, and the suture can be quickly tightened after the puncture needle is withdrawn, so that the shearing mechanism can release the proximal anchor to clamp and cut the suture.

[0241] In this embodiment, the positioning member 234 is preferably a spring, one side of which is fixed to the magazine body 201 or the cover 202, and the other side of which is provided with a plurality of positioning protrusions or positioning grooves. Correspondingly, a matching positioning groove or positioning protrusion is provided on the suture fixing seat 211. In this way, one positioning protrusion provided on the spring can correspond to one puncture length (puncture depth), and multiple positioning protrusions provided can correspond to multiple puncture lengths (puncture depths). Figure 31 As shown, the magazine has three penetration depths to choose from, such as Figure 33 The maximum penetration depth is shown. Figure 34 The mid-range penetration depth is shown. Figure 35 The minimum puncture depth is shown; Figure 32 The magazine shown here has only one fixed puncture depth. This way, the motor-controlled movement of the puncture needle connector allows for adjustment of the puncture depth based on the size of the patient's gland. The unique spring design ensures infinite adjustment of the puncture depth. For patients with small glands, fewer motor revolutions reduce the puncture depth. For patients with larger glands, more motor revolutions increase the puncture depth.

[0242] In this embodiment, the guide rod 210 can be fixed on the puncture needle connector 208, and the suture fixing seat 211 slides back and forth on the guide rod 210; or the guide rod 210 can move back and forth relative to the puncture needle connector 208, and the suture fixing seat 211 is fixedly connected to the guide rod 210 and moves back and forth synchronously, or the empty sleeve slides back and forth on the guide rod 210.

[0243] In this embodiment, the fixed end of the shrapnel is rolled into a rectangular ring and sleeved on the fixed post 2011 of the magazine body, and the rotation and excessive jumping of the shrapnel are limited by the limit post 2012. In this way, the shrapnel can be formed by punching and rolling metal plates, which has low manufacturing cost and good elasticity.

[0244] In this embodiment, a 3D rectal ultrasound imaging probe 800 includes a linear array transducer and a stepper motor. The stepper motor drives the linear array transducer to rotate about the probe's main axis. Each step of the stepper motor generates a 2D line scan image. The 2D images scanned by the linear array transducer are combined into a 3D space through a 3D imaging system. 3D rectal ultrasound imaging technology is currently available and will not be further described.

[0245] It should be noted that the various "tubes" in the present invention are not limited to tubular objects with cylindrical or closed-loop cross-sections. Rather, they refer to channel-like objects with at least one guide channel extending along its length, through which another object can move. For example, the support tube 226 in this embodiment is a sheet-like support with an arcuate cross-section, and the push-pull tube 225 is a long, groove-shaped object with a "["-shaped" cross-section. In other embodiments, these "tubes" can also be objects of other shapes that can achieve the same function.

[0246] The operation of the surgical system of this embodiment is implemented as follows:

[0247] The host computer sends 3D imaging instructions to the imaging control system, which sends timing signals to the linear array transducer and stepper motor of the 3D rectal B-ultrasound imaging probe. Each time the stepper motor steps, the linear array transducer collects an ultrasound echo signal and sends it to the imaging control system. The imaging control system then sends the image data to the host computer, which processes the data to display the 3D prostate contour. The host computer can also display any 2D image.

[0248] The puncture position is selected on the host computer and sent to the robotic arm control system, and the robotic arm performs the puncture operation. The specific action process is as follows:

[0249] The servo motor 606 runs, driving the screw 604 to rotate clockwise through the coupling 605, causing the slider connecting block 209 to slide backward to a predetermined initial position. After reaching the predetermined position, the servo motor 606 pauses and remains stationary; the magazine 200 is snapped into the mounting groove of the mounting plate 613 and locked. At this time, the puncture needle connector 208 is connected to the slider connecting block 610.

[0250] The servo motor 606 runs, driving the screw 604 to rotate rapidly counterclockwise through the coupling 605, so that the slider connecting block 209 drives the puncture needle connector 208 to slide forward rapidly, and the puncture needle connector 208 drives the puncture needle 221 to penetrate forward rapidly to complete the puncture. After the puncture is completed, the servo motor 606 stops running and remains stationary. The number of revolutions of the servo motor 606 is different, and the puncture depth of the puncture needle connector 208 is also different. At different puncture depths, the suture fixing seat 211 reaches different limit positions on the spring 234, such as Figure 33 、 Figure 34 and Figure 35 shown.

[0251] The servo motor 606 runs, driving the screw 604 to rotate clockwise through the coupling 605, so that the slider connecting block 209 drives the puncture needle connector 208 to slide backward to the predetermined position, and the puncture needle connector 208 drives the puncture needle 221 to withdraw to the predetermined position. After the puncture needle 221 withdraws, the servo motor 606 stops running and remains stationary. During the withdrawal of the puncture needle 221, the suture fixing seat 211 begins to withdraw together with the puncture needle connector 208 until the groove at the lower end of the suture fixing seat 211 matches the protrusion on the shrapnel fixed to the magazine body 201, as shown in FIG. Figure 36 As shown, at this time, the puncture needle connector 208 continues to retreat, and the suture fixing seat 211 temporarily stops retreating until the distal anchor 300 is released. At this time, the backward thrust applied by the puncture needle connector 208 to the suture fixing seat 211 is greater than the positioning friction force applied by the spring sheet to the suture fixing seat 211. The suture fixing seat 211 will continue to retreat and tighten the released suture, as shown in FIG. Figure 37 shown.

[0252] like Figure 38 and Figure 39 As shown, the cylinder 602 pulls the driving member 603 downward, and the driving member 603 moves downward and pulls the push locking member 215, and the push locking member 215 rotates axially to complete the unlocking; Figure 40As shown, under the action of the tension spring 233, the pushing component 213 slides forward, driving the pushing rod 227 to push out the proximal anchor 400, and at the same time, the pushing component 213 hits the support component 214, causing the support component 214 to rotate axially, completing the unlocking of the shearing component 212. Under the action of the tension spring 233, the shearing component 212 slides backward, driving the shearing rod 228 to slide backward to complete the shearing.

[0253] The present invention combines ultrasonic 3D imaging technology, robotic arm control technology, positioning technology and an innovative structure for suspension anchor release, thereby achieving 3D scanning and imaging of the prostate by rectal ultrasound, and then combining positioning technology and algorithms to automatically operate the anchor delivery system by the robotic arm, thereby realizing automated release of the suspension, greatly shortening the learning curve of this operation, thereby greatly reducing the operation's dependence on the doctor's experience, and at the same time reducing the difficulty of the operation, achieving more standardized suspension surgery, and facilitating the large-scale promotion of the operation.

[0254] The present invention can provide three-dimensional image guidance before release, allowing doctors to better judge the release effect and risks, thereby facilitating adjustments. The release process software can calculate the length of the needle according to the thickness of the prostate, thereby accurately controlling the motor for release and preventing excessive puncture.

[0255] The puncture needle of the present invention can be fired and retracted by the forward and reverse rotation of the motor, thereby avoiding the occurrence of problems and difficult-to-handle pain points caused by manually suspended product puncture.

[0256] After release, the anchor delivery system of the present invention can promptly determine whether the release is OK through ultrasound and provide timely feedback.

[0257] The surgical system of the present invention can learn from and collect more and more cases and form a more optimized algorithm through subsequent training. It can store the optimal solutions for prostates of different sizes and shapes. When encountering similar glands, it can quickly compare and give corresponding release suggestions, thereby making the equipment more efficient and achieving better treatment effects.

[0258] Example 3:

[0259] A surgical system includes a robotic arm, a three-dimensional rectal ultrasound imaging probe, and a host computer. The robotic arm is equipped with an anchor delivery system, which includes a magazine for delivering and releasing implants and a delivery drive for driving the magazine to perform corresponding actions. The host computer is connected to the robotic arm and the three-dimensional rectal ultrasound imaging probe via data cables. The host computer is equipped with a control operating system for three-dimensional rectal ultrasound imaging positioning and controlling the robotic arm.

[0260] In this embodiment, Figure 41As shown, the implant magazine (magazine 200) includes:

[0261] A puncture needle tube 224, in which a puncture needle 221 capable of moving back and forth is inserted, the proximal end of the puncture needle tube 224 is fixedly connected to the front end of the magazine body 201, and the distal end of the puncture needle tube 224 is fixedly connected to the head end component 222;

[0262] A push-pull tube 225, through which a shear rod 228 and a push rod 227 capable of moving back and forth are inserted, the proximal end of the push-pull tube 225 is fixedly connected to the front end of the magazine body 201, and a proximal anchor 400 capable of moving back and forth and being released is provided in the distal opening of the push-pull tube 225, and the distal end of the push-pull tube 225 is fixedly connected to the head end component 222;

[0263] A puncture needle connector 208 is fixedly connected to the proximal end of the puncture needle 221, and a suture 500 that can move back and forth is inserted into the puncture needle 221;

[0264] A suture holder 211, the proximal end of the suture 500 is fixedly connected to the suture holder 211 via a suture support tube 231, the suture holder 211 is mounted in the magazine body 201 in a manner that allows it to slide back and forth, and the distal end of the suture 500 is fixedly connected to the distal anchor 300; the puncture needle connector 208 and the suture holder 211 are arranged in a front-rear manner;

[0265] A shearing member 212 is mounted in the magazine body in a manner that allows it to slide back and forth. The shearing member 212 is fixedly connected to the proximal end of a shearing rod 228, and the distal end of the shearing rod 228 is connected to the blade 223. Driven by the shearing member 212, the shearing rod 228 pulls the blade 223 backward to complete the shearing action;

[0266] A pushing component 213 is installed in the magazine body 201 in a manner that it can slide back and forth. The pushing component 213 is fixedly connected to the proximal end of the pushing rod 227. The pushing rod 227 pushes the proximal anchor 400 forward under the drive of the pushing component 213. The shearing component 212 and the pushing component 213 are arranged one after the other.

[0267] In this embodiment, Figure 42 and Figure 43 As shown, the conveying drive device includes:

[0268] Install the connecting plate 801, which is used to install the magazine and connect the robotic arm;

[0269] A first driving slider 8021 , which is connected to the puncture needle connector 208 in the magazine 200 and moves synchronously;

[0270] A second driving slider 8022 , which is connected to the suture fixing seat 211 in the magazine 200 and moves synchronously;

[0271] A third driving slider 8031 ​​is connected to the shear member 212 in the magazine 200 and moves synchronously;

[0272] The fourth driving slider 8032 is connected to the pushing component 213 in the magazine 200 and moves synchronously;

[0273] The first driving slider 8021 , the second driving slider 8022 , the third driving slider 8031 ​​and the fourth driving slider 8032 are driven by linear motors to move independently.

[0274] The difference between this embodiment and embodiment 2 is that this embodiment uses a linear motor to drive and control the puncture needle connector, suture fixing seat, shearing component, and pushing component to perform corresponding movements, thereby achieving puncture, distal anchor release, suture pulling, proximal anchor release, and suture shearing, clamping, and fixation.

[0275] The prostate suspension system in the existing technology has the following defects: 1. The puncture depth cannot be adjusted, and excessive puncture is prone to occur in patients with small glands, causing the puncture needle to hit other tissues, which is a higher risk; 2. When encountering a harder prostate, the degree of restraint will be limited, that is, it is difficult for the urethra to achieve the expected patency; 3. The proximal anchor and suture are not firm enough, and there may be a risk of loosening; 4. The internal structure of the magazine is complicated, with many parts, and the production cost is high.

[0276] During operation, the conventional manual suspension system primarily relies on proximal anchors, distal anchors, and sutures to restrain the prostate, thereby opening the urethra. The tightness of the prostate restraint is determined by the spring within the implant magazine. When encountering a harder prostate, the degree of restraint is limited, meaning that it is difficult for the urethra to achieve the desired patency. This embodiment can effectively resolve this issue by restraining the prostate based on the pulling distance of the sutures. It is not affected by the hardness of the prostate and can effectively restrain the prostate and open the urethra.

[0277] In the prior art and the previous two embodiments, the proximal anchor is fixed to the suture by transmitting force to the push rod through a tension spring, and the push rod pushes the proximal anchor to be stuck in the suture. In this process, since the tension spring is in a pre-tensioned state before leaving the factory, the product validity period is generally set at 3 to 5 years. The pre-tensioning force of the tension spring will gradually weaken over time. If the implant magazine is used near its validity period, the firmness of the proximal anchor stuck in the suture will be reduced, and there may be a risk of loosening.

[0278] This embodiment effectively addresses these issues by utilizing a linear motor to output constant power, transmitting it to a push rod that then pushes the proximal anchor into place, securing the suture. Furthermore, conventional magazines have complex internal structures and numerous components. However, this embodiment utilizes a linear motor to drive the magazine components via multiple drive slides, simplifying the internal structure and reducing manufacturing costs. Furthermore, because the linear motor is a reusable component of the device, only the magazine is consumed during surgery, reducing consumable costs for the patient.

[0279] In this embodiment, a mounting slot for mounting a magazine is preferably provided on the outer side of the mounting connecting plate 801, and the magazine housing 201 is fixedly connected to the mounting slot on the mounting connecting plate 801 via a snap-fit ​​structure. A motor base 804 is also provided, and the linear motor is mounted and fixed in the motor base 804, which is fixedly connected to the mounting connecting plate 801.

[0280] In this embodiment, two linear motors are preferably used. The first drive slider 8021 and the second drive slider 8022 are driven by the first linear motor 802 for independent or synchronous movement, and the third drive slider 8031 ​​and the fourth drive slider 8032 are driven by the second linear motor 803 for independent or synchronous movement. In other embodiments, four linear motors may be used to drive the four drive sliders, or a single linear motor may be used with four movers to drive the four drive sliders.

[0281] In this embodiment, preferably, both the magazine body 201 and the mounting connection plate 801 are provided with windows for the connection posts connecting the drive slider and the components within the magazine to pass through. For example, after the connection post on the puncture needle connector 208 passes through the window, it engages and moves synchronously with the slot on the first drive slider 8021; after the connection post on the suture holder 211 passes through the window, it engages and moves synchronously with the slot on the second drive slider 8022; after the connection post on the shearing component 212 passes through the window, it engages and moves synchronously with the slot on the third drive slider 8031; after the connection post on the pushing component 213 passes through the window, it engages and moves synchronously with the slot on the fourth drive slider 8032. In other embodiments, an extension rod may be provided on the drive slider to insert into the magazine to drive the corresponding components.

[0282] Thus, in this embodiment, by controlling the back-and-forth motion of the linear motor's mover, the back-and-forth motion of the puncture needle connector within the magazine is controlled. The puncture needle connector, in turn, drives the puncture needle back-and-forth. By simply setting the distance of the motor's mover's motion based on the patient's glandular size, the puncture depth can be controlled. Similarly, by controlling the back-and-forth motion of the motor's mover, the back-and-forth motion of the suture holder within the magazine is controlled. The suture holder pulls the suture, thereby restraining the hyperplastic prostate. The lifting distance can be set based on the patient's glandular size, effectively restraining the prostate and opening the urethra. Similarly, by controlling the linear motor's output to produce a constant force, the mover's back-and-forth motion controls the back-and-forth motion of the magazine's pusher assembly, which in turn drives the pusher rod back-and-forth, thereby firmly engaging the proximal anchor with the suture. Furthermore, the 3D rectal ultrasound imaging and positioning system, automated operating system, robotic arm, and drive mechanism all utilize reusable hardware and software; only the magazine requires replacement. This reduces the number of consumables and reduces manufacturing costs.

[0283] Therefore, in this embodiment, the magazine is no longer provided with a stroke adjustment mechanism as in embodiment 1, nor is a positioning member for applying a positioning force to the suture fixing seat as in embodiment 2. For other unfinished matters, please refer to embodiment 2.

[0284] The operation of the surgical system of this embodiment is implemented as follows:

[0285] The host computer sends 3D imaging instructions to the imaging control system, which sends timing signals to the linear array transducer and stepper motor of the 3D rectal B-ultrasound imaging probe. Each time the stepper motor steps, the linear array transducer collects an ultrasound echo signal and sends it to the imaging control system. The imaging control system then sends the image data to the host computer, which processes the data to display the 3D prostate contour. The host computer can also display any 2D image.

[0286] The puncture position is selected on the host computer and sent to the robotic arm control system, and the robotic arm performs the puncture operation. The specific action process is as follows:

[0287] 1) The first linear motor 802 drives the first driving slider 8021 and the second driving slider 8022 to move forward synchronously, driving the puncture needle connector 208 and the suture fixing seat 211 to slide forward quickly. The puncture needle connector 208 drives the puncture needle 221 to penetrate forward quickly to complete the puncture.

[0288] 2) The first linear motor 802 drives the first drive slider 8021 backward, causing the puncture needle connector 208 to slide backward. The puncture needle connector 208 then drives the puncture needle 221 back to the predetermined position, completing the retraction of the puncture needle 221. During the retraction of the puncture needle 221, the suture holder 211 remains stationary until the distal anchor 300 is released. After the puncture needle connector 208 reaches the predetermined position, the first linear motor 802 drives the second drive slider 8022 backward, which in turn drives the suture holder 211 back, tightening the released suture.

[0289] 3) The second linear motor 803 drives the fourth driving slider 8032 to move forward, and the fourth driving slider 8032 drives the pushing component 213 to slide forward, driving the pushing rod 227 to push out the proximal anchor 400 to clamp and fix the suture. Then, the second linear motor 803 drives the third driving slider 8031 ​​to move backward, and the third driving slider 8031 ​​drives the shearing component 212 to slide backward, and the shearing component 212 drives the shearing rod 228 and the blade 223 to slide backward to complete the suture cutting.

[0290] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "an implementation", "specific implementation", "other implementations", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment, implementation or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described above may also be combined in a suitable manner in any one or more embodiments, implementations or examples. The technical solutions described in the present invention also include technical solutions formed by any one or more specific features, structures, materials or characteristics described above, either alone or in combination.

[0291] Although the embodiments of the present invention have been shown and described above, it is understandable that the above embodiments are illustrative and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace, modify, delete some features, add features, or re-combine features to form a technical solution within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the innovative principles of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A magazine for an anchor delivery system, characterized in that: include: A puncture needle tube (224), wherein a puncture needle (221) capable of moving forward and backward is inserted into the puncture needle tube (224), and a suture (500) capable of moving forward and backward is inserted into the puncture needle (221), wherein the proximal end of the puncture needle tube (224) is fixedly connected to the front end of the magazine body, and the distal end of the puncture needle tube (224) is fixedly connected to the head end component (222); A push-pull tube (225), wherein a shear rod (228) and a push rod (227) capable of moving forward and backward are provided in the push-pull tube (225), a proximal end of the push-pull tube (225) is fixedly connected to the front end of the magazine body, a proximal anchoring member (400) capable of moving forward and backward and being disengaged is provided in the distal opening of the push-pull tube (225), and the distal end of the push-pull tube (225) is fixedly connected to the head end member (222); a puncture needle connector (208), the puncture needle connector (208) being mounted in the magazine body in a manner capable of sliding forward and backward, the front portion of the puncture needle connector (208) being fixedly connected to the proximal end of the puncture needle (221); A pushing and shearing mechanism, used for driving a pushing rod (227) to push the proximal anchor (400) to clamp and fix the suture and for driving a shearing rod (228) to drive a blade (223) to cut the suture; The proximal end of the suture (500) is fixedly connected to the suture fixing seat (211), the suture fixing seat (211) is mounted on the puncture needle connector (208) in a manner that allows it to slide back and forth, and the distal end of the suture (500) is fixedly connected to the distal anchor (300); a guide rod (210) is mounted on the puncture needle connector (208), and the suture fixing seat (211) is sleeved on the guide rod (210) and can move back and forth; a mechanism for applying a positioning action to the suture fixing seat (211) is provided in the magazine. The positioning member (234) exerts a force, and when the suture fixing seat (211) moves to the set position, the positioning member (234) exerts a positioning force on the suture fixing seat (211). When the moving force applied to the suture fixing seat (211) is not greater than the positioning force applied to it by the positioning member (234), the suture fixing seat (211) remains stationary. When the moving force applied to the suture fixing seat (211) is greater than the positioning force applied to it by the positioning member (234), the suture fixing seat (211) moves.

2. A magazine for an anchor delivery system according to claim 1, characterized in that: The pushing and shearing mechanism comprises: a shearing member (212), the shearing member (212) being mounted in the magazine body in a manner capable of sliding forward and backward, and the shearing member (212) pulling the blade (223) backward via the shearing rod (228) to complete the action of shearing the suture; a pushing component (213), the pushing component (213) being mounted in the magazine body in a manner capable of sliding forward and backward, and the pushing component (213) pushing the proximal anchor (400) forward via a pushing rod (227); the shearing component (212) and the pushing component (213) being arranged front to back and connected by a tension spring (233) so as to pull the two toward each other; A support member (214) is installed between the shearing member (212) and the pushing member (213). The front and rear ends of the support member (214) are movable and have two position states: when the support member (214) is in the first position, it limits the rearward movement of the shearing member (212) and does not limit the pushing member (213); when the support member (214) is in the second position, it limits the forward movement of the pushing member (213) and does not limit the shearing member (212); The middle portion of the support member (214) is hinged to the magazine body via a hinge pin (230); the pushing member (213) and the shearing member (212) slide along the same straight line, and the tension spring (233) is always in a stretched state. The tension released by the tension spring (233) pulls the shearing member (212) and the pushing member (213) toward each other. The push locking member (215) is also provided in the magazine body. When the push locking member (215) is in the initial position, it is connected to the push member (213), so that the push member (213) is locked and cannot be moved. The push locking member (215) has a hook portion (2151) and a release portion (2152). The hook portion (2151) is engaged with the clamping portion on the push member (213) to achieve position locking. The driving member (603) drives the release portion (2152) to rotate the push locking member (215), thereby releasing the lock of the push member (213). The positioning member (234) is a spring, one side of which is fixed to the magazine body (201) or the cover (202), and the other side of which is provided with a plurality of positioning protrusions or positioning grooves, and correspondingly, a matching positioning groove or positioning protrusion is provided on the suture fixing seat (211).

3. A surgical system, characterized in that: include: A robotic arm (700) is provided with an anchor delivery system mounted thereon, the anchor delivery system comprising a magazine (200) for delivering and releasing an implant and a delivery drive device (600) for driving the magazine to perform a corresponding action; the magazine (200) is a magazine for an anchor delivery system as claimed in claim 1 or 2; Three-dimensional rectal B-ultrasound imaging probe (800); The host computer is connected to the robotic arm (700) and the three-dimensional rectal B-ultrasound imaging probe (800) via data cables. A control operating system is installed on the host computer, and the control operating system is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robotic arm (700).

4. An anchor delivery system, characterized in that: It comprises a magazine (200) for delivering and releasing implants and a delivery drive device (600) for driving the magazine to complete corresponding actions; The magazine (200) is a magazine for an anchor delivery system as claimed in claim 1 or 2; The conveying drive device (600) comprises: a mounting plate (613); a slider connecting block (610), the slider connecting block (610) being slidably disposed on the mounting plate (613) and driven by the servo motor (606) to move forward and backward, and the slider connecting block (610) being connected to the puncture needle connecting member (208) in the magazine (200) and moving synchronously; A driving member (603) is connected to the push locking member (215) in the magazine (200) and is used to unlock the push shearing mechanism.

5. A surgical system, characterized in that: include: a robotic arm (700), the robotic arm (700) being equipped with an anchor delivery system according to claim 4; Three-dimensional rectal B-ultrasound imaging probe (800); The host computer is connected to the robotic arm (700) and the three-dimensional rectal B-ultrasound imaging probe (800) via data cables. A control operating system is installed on the host computer, and the control operating system is used for three-dimensional rectal B-ultrasound imaging positioning and controlling the robotic arm (700).

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