Semi-automatic sewing type suture forceps under endoscope

Abstract

The invention discloses a pair of semi-automatic sewing type suture forceps under an endoscope, and relates to the field of endoscopic surgical instruments. A sewing type suturing principle is adopted, tissue suturing under an endoscope is completed on the premise that an incision does not need to be enlarged and an operation mode does not need to be changed, the effectiveness of the operation can be effectively improved, and operation injuries are reduced. Comprising a shell, a horizontal push rod, a fixed shaft sleeve, an upper connecting rod, a lower connecting rod, an upper suture clamp, a lower suture clamp, an upper curved needle and a lower curved needle, the horizontal push rod penetrates into the shell from the rear portion of the shell and penetrates through a fixed shaft sleeve fixedly installed in the shell, and the horizontal push rod is used for bearing a linear power source input from the outside and does linear reciprocating motion. Efficient suturing in the microscopic anastomosis operation is achieved, operation is easy, and the suturing effect is good.

Description

Technical Field

[0001] The invention relates to the field of endoscopic surgical instruments, in particular to a semi-automatic sewing suture forceps under laparoscope. Background Art

[0002] At present, laparoscopic surgery has gradually become the mainstream surgery in surgery. Laparoscopic surgery with deep holes lacks special instruments to assist in tissue suturing and anastomosis of blood vessels and nerves. At present, various types of laparoscopic surgeries such as nasal skull base endoscopy, thyroid surgery, laparoscopy, thoracoscopy, arthroscopy, hysteroscopy and other surgeries aim to remove surgical lesions and reconstruct organ and tissue functions under minimally invasive conditions. However, the angle scope under the laparoscope has a biased observation angle and a deep hole, which makes it difficult for the suture needle to pass through the narrow cavity tissue, or damage the surrounding tissue such as blood vessels during the passage, and the too small needle is easy to fall off in the cavity, and it is difficult to tie the knot after suturing. The problem makes the difficulty of tissue suturing under laparoscopy significantly greater than that of normal open surgery, and consumes more surgical time and surgeon energy. Therefore, establishing a practical and simple hand-controlled sewing and anastomosis forceps under laparoscope can not only effectively solve the above problems, but also provide a favorable practical mechanical operation basis for the simultaneous operation of multiple joysticks of the subsequent robot arm. Summary of the invention

[0003] In view of the above problems, the present invention proposes a semi-automatic sewing suture forceps under laparoscope, which adopts the sewing suturing principle and completes tissue suturing under laparoscope without expanding the incision or changing the surgical method, which can effectively improve the effectiveness of the operation and reduce surgical injuries.

[0004] The technical scheme of the present invention is as follows: it comprises a shell, a horizontal push rod 1, a fixed shaft sleeve 3, an upper connecting rod 4, a lower connecting rod 5, an upper suture clamp 6, a lower suture clamp 7, an upper curved needle 8, and a lower curved needle 9.

[0005] The horizontal push rod 1 penetrates into the housing from the rear part thereof and passes through a fixed sleeve 3 fixedly installed inside the housing. The horizontal push rod 1 receives a linear power source inputted from the outside and performs a linear reciprocating motion.

[0006] The front part of the housing is provided with a step for accommodating the part to be sutured, the root of the upper suture clamp 6 is hinged in the housing and is located at the upper part of the step, the root of the lower suture clamp 7 is also hinged in the housing and is located at the lower part of the step, and the length of the upper suture clamp 6 is greater than that of the lower suture clamp 7;

[0007] The two ends of the upper connecting rod 4 are respectively hinged to the middle of the upper suture clamp 6 and the front end of the horizontal push rod 1, and the two ends of the lower connecting rod 5 are respectively hinged to the middle of the lower suture clamp 7 and the front end of the horizontal push rod 1. In this way, when the horizontal push rod 1 moves forward, the upper suture clamp 6 and the lower suture clamp 7 will be driven to turn forward synchronously through the upper connecting rod, and when the horizontal push rod 1 moves backward, the upper suture clamp 6 and the lower suture clamp 7 will be driven to turn backward synchronously through the lower connecting rod; in this process, since the length of the upper suture clamp 6 is greater than that of the lower suture clamp 7, the upper suture clamp 6 makes a larger turn and is alternately swung into a predetermined position with the lower suture clamp 7.

[0008] The top of the upper suture clamp 6 is provided with an upper curved needle 8 for installing sutures, and the top of the lower suture clamp 7 is provided with a lower curved needle 9 for installing sutures. The upper curved needle 8 and the lower curved needle 9 are in a shape of curved hooks arranged opposite to each other, and thread holes are opened on the upper curved needle 8 and the lower curved needle 9. After the sutures are inserted, the upper suture clamp 6 and the lower suture clamp 7 alternately enter the predetermined positions to perform sewing-style suture on the part to be sutured.

[0009] In order to avoid interference and reduce the space occupied by the present invention in the lateral direction, the front portion of the upper connecting rod 4 has an arc-shaped curved section that arches upward.

[0010] In order to limit the position of the horizontal push rod 1 , a limiting protrusion 2 is fixedly mounted on the horizontal push rod 1 .

[0011] In order to ensure the movement stability of the horizontal push rod and further limit the stroke of the horizontal push rod 1, there are two fixed shaft sleeves 3, both of which are fixedly installed in the housing and are located at the front and rear sides of the limiting protrusion 2.

[0012] The hinge point O2 at the root of the lower suture clamp 7 is on the same straight line as the center line AB1 of the horizontal push rod 1, and the hinge point O1 at the root of the upper suture clamp 6 is above the straight line.

[0013] The distance between the hinge point O1 at the root of the upper suture clamp 6 and the fixed point P of the upper curved needle 8 is R, and the distance between the hinge point O2 at the root of the lower suture clamp 7 and the fixed point Q of the lower curved needle 9 is r;

[0014] The intersection point of the straight line passing through point O1 and perpendicular to line AB1 and the extended line of line AB1 is F, O1F=r and O2F=R;

[0015] The hinge point between the upper suture clamp 6 and the upper connecting rod 4 is C, the hinge point between the lower suture clamp 7 and the lower connecting rod 5 is G, and the hinge points of the upper connecting rod 4, the lower connecting rod 5 and the horizontal push rod 1 are all B1. The positional relationship between the points is:

[0016]

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The semi-automatic sewing suture forceps used for laparoscopic surgery is provided with a horizontal push rod, which can drive the upper connecting rod and the lower connecting rod at the same time, and then the upper and lower connecting rods respectively drive the upper suture forceps and the lower suture forceps to achieve semi-automatic continuous suturing.

[0019] Second, the front end of the horizontal push rod is covered with a fixed sleeve. At the same time, since there is a limit protrusion at the front of the horizontal push rod, when the horizontal push rod moves forward a certain distance, the limit protrusion collides with the fixed sleeve, and the horizontal push rod cannot continue to move forward. Therefore, due to the existence of the fixed sleeve and the upper limit protrusion of the horizontal push rod, the moving distance of the horizontal push rod is limited to a certain range and distance.

[0020] Third, since the shaft wheel of the horizontal push rod indirectly connects the upper suture clamp and the lower suture clamp, it is ensured that when the horizontal push rod moves, the upper suture clamp and the lower suture clamp just move in coordination, ensuring the orderliness and continuity of the movement of the upper and lower suture clamps, and then ensuring the orderliness of the suturing process.

[0021] 4. The horizontal push rod can move back and forth freely within a certain distance, ensuring that during the suturing process, if the suturing position is found to be unsatisfactory, when the horizontal push rod is moved back, the mechanism inside the forceps can automatically return to its previous shape in proportion to the original movement speed, thereby adapting to different situations during the operation and ensuring the convenience of the surgical operation.

[0022] Generally speaking, the suture forceps in the present invention adopt the sewing suturing principle, align the two ends of the tissue to be sutured, use the automatic sewing suturing forceps to put the sutured tissue between the upper curved needle and the lower curved needle, and pre-thread the sutures through the upper curved needle and the lower curved needle. This sewing suturing forceps can pass the curved needle through the tissue, and the built-in hook needle sleeve passes the suture of the tissue. When the front curved needle withdraws from the tissue, the front suture is straightened, and then the cycle is performed in sequence to complete the semi-automatic continuous suturing. During the suturing process, if it is found that the suture position is not ideal, when the jaws are released, the mechanism inside the suture forceps can automatically return to the previous shape according to the original movement speed ratio. The present invention realizes efficient suturing in microanastomosis surgery, and its operation is simple and the suturing effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the main structure of the appearance of this case;

[0024] Figure 2 This is a cross-sectional view of the main body of the case;

[0025] Figure 3 is a schematic diagram of the horizontal push rod in this case;

[0026] Figure 4It is a schematic diagram of the upper connecting rod in this case;

[0027] Figure 5 It is a schematic diagram of the lower connecting rod in this case;

[0028] Figure 6 It is a schematic diagram of the upper suture forceps in this case;

[0029] Figure 7 is a schematic diagram of the lower suture forceps in this case;

[0030] Figure 8 It is a schematic diagram of the fixed sleeve in this case;

[0031] Fig. 9 It is the motion curve schematic diagram of this case;

[0032] Fig.10 It is a schematic diagram of the upper bending needle movement;

[0033] Fig.11 Schematic diagram of the bending needle movement below.

[0034] Figure 12-15 The appearance section view in different states

[0035] In the figure: 1. horizontal push rod; 2. horizontal push rod limit protrusion; 3. fixed shaft sleeve; 4. upper connecting rod; 5. lower connecting rod; 6. upper suture clamp; 7. lower suture clamp; 8. upper bending needle; 9. lower bending needle; 10. horizontal push rod shaft wheel; 11. lower shaft wheel of upper connecting rod; 12. upper bending handle of upper connecting rod; 13. upper shaft wheel of upper connecting rod; 14. lower shaft wheel of lower connecting rod; 15. upper shaft wheel of lower connecting rod; 16. shaft wheel of upper suture clamp; 17. shaft wheel of lower suture clamp. DETAILED DESCRIPTION

[0036] In order to clearly illustrate the technical features of this patent, this patent is elaborated in detail below through a specific implementation method and in combination with its accompanying drawings.

[0037] Attached Figure 1 The main structure diagram of the present invention is shown in FIG. Figure 2 It is a cross-sectional view of the main body of the patent of the present invention, including a shell, a horizontal push rod 1, a fixed shaft sleeve 3, an upper connecting rod 4, a lower connecting rod 5, an upper suture clamp 6, a lower suture clamp 7, an upper curved needle 8, and a lower curved needle 9.

[0038] The horizontal push rod 1 penetrates into the housing from the rear part thereof and passes through a fixed sleeve 3 fixedly installed inside the housing. The horizontal push rod 1 receives a linear power source inputted from the outside and performs a linear reciprocating motion.

[0039] The front part of the housing is provided with a step for accommodating the part to be sutured, the root of the upper suture clamp 6 is hinged in the housing and is located at the upper part of the step, the root of the lower suture clamp 7 is also hinged in the housing and is located at the lower part of the step, and the length of the upper suture clamp 6 is greater than that of the lower suture clamp 7;

[0040] The two ends of the upper connecting rod 4 are respectively hinged to the middle of the upper suture clamp 6 and the front end of the horizontal push rod 1, and the two ends of the lower connecting rod 5 are respectively hinged to the middle of the lower suture clamp 7 and the front end of the horizontal push rod 1. In this way, when the horizontal push rod 1 moves forward, the upper suture clamp 6 and the lower suture clamp 7 will be driven to turn forward synchronously through the upper connecting rod, and when the horizontal push rod 1 moves backward, the upper suture clamp 6 and the lower suture clamp 7 will be driven to turn backward synchronously through the lower connecting rod; in this process, since the length of the upper suture clamp 6 is greater than that of the lower suture clamp 7, the upper suture clamp 6 makes a larger turn and is alternately swung into a predetermined position with the lower suture clamp 7.

[0041] The top of the upper suture clamp 6 is provided with an upper curved needle 8 for installing sutures, and the top of the lower suture clamp 7 is provided with a lower curved needle 9 for installing sutures. The upper curved needle 8 and the lower curved needle 9 are in a shape of curved hooks arranged opposite to each other, and thread holes are opened on the upper curved needle 8 and the lower curved needle 9. After the sutures are inserted, the upper suture clamp 6 and the lower suture clamp 7 alternately enter the predetermined positions to perform sewing-style suture on the part to be sutured.

[0042] In order to avoid interference and reduce the space occupied by the present invention in the lateral direction, the front portion of the upper connecting rod 4 has an arc-shaped curved section that arches upward.

[0043] In order to limit the position of the horizontal push rod 1 , a limiting protrusion 2 is fixedly mounted on the horizontal push rod 1 .

[0044] In order to ensure the movement stability of the horizontal push rod and further limit the stroke of the horizontal push rod 1, there are two fixed shaft sleeves 3, both of which are fixedly installed in the housing and are located at the front and rear sides of the limiting protrusion 2.

[0045] The hinge point O2 at the root of the lower suture clamp 7 is on the same straight line as the center line AB1 of the horizontal push rod 1, and the hinge point O1 at the root of the upper suture clamp 6 is above the straight line.

[0046] The distance between the hinge point O1 at the root of the upper suture clamp 6 and the fixed point P of the upper curved needle 8 is R, and the distance between the hinge point O2 at the root of the lower suture clamp 7 and the fixed point O of the lower curved needle 9 is r;

[0047] The intersection point of the straight line passing through point O1 and perpendicular to line AB1 and the extended line of line AB1 is F, O1F=r and O2F=R;

[0048] The hinge point between the upper suture clamp 6 and the upper connecting rod 4 is C, the hinge point between the lower suture clamp 7 and the lower connecting rod 5 is G, and the hinge points of the upper connecting rod 4, the lower connecting rod 5 and the horizontal push rod 1 are all B1. The positional relationship between the points is:

[0049]

[0050] As attached Figure 3 As shown, a limiting protrusion 2 is provided on the horizontal push rod body 1. When the horizontal push rod moves forward a certain distance, it collides with the fixed shaft sleeve 3, which ensures that the horizontal push rod moves within a certain distance and range.

[0051] Specifically:

[0052] The horizontal push rod shaft wheel 10 is connected with the shaft wheel 11 below the upper connecting rod and the shaft wheel 14 below the lower connecting rod. When the horizontal push rod moves, it drives the upper suture clamp 6 and the lower suture clamp 7 to move. Since the upper suture clamp shaft wheel 16 and the lower suture clamp shaft wheel 17 are fixed on the inner surface of the shell, the movement of the horizontal push rod makes the upper suture clamp 6 and the lower suture clamp 7 move in coordination at a certain speed ratio. Since the upper suture clamp 6 and the lower suture clamp 7 are attached with an upper curved needle 8 and a lower curved needle 9, after the tissue to be sutured is placed in the jaws, the horizontal push rod is pushed, and the sewing-type anastomotic forceps can pass the upper curved needle 8 through the tissue. Due to the coordinated movement of the upper suture clamp 6 and the lower suture clamp 7, the upper curved needle 8 and the lower curved needle (9) will never collide during the movement, and the orderliness and continuity of the suturing process are guaranteed.

[0053] In addition, when the suturing position is not ideal, the horizontal push rod moves outward, and due to the existence of the interconnected shaft wheels, the internal mechanism can automatically return to the previous shape in proportion to the original movement speed.

[0054] The relevant instructions are as follows:

[0055] Keep the speed of the horizontal push rod in linear motion, assuming the speed is V1, assuming the angle between O1V and the horizontal direction is α, the changing angle is (60°--0°--150°, the rotation changing angle of the upper crank is 90°) and the angle between B1C and the horizontal direction is β, where PP1 and QQ1 are the motion trajectories of the upper and lower bending needles respectively.

[0056] The movement time of the horizontal push rod at any time is:

[0057] For the movement of the upper looper:

[0058] The intersection point of the straight line passing through point C and perpendicular to line AB1 and the extended line of line AB1 is K, the intersection point of the straight line passing through point C and perpendicular to the extended line of line O1F and line O1F is J, and the extended line of B1C intersects the extended line of O1F at point E;

[0059] According to the Pythagorean theorem, the lengths of B1K, EJ, and EO1 are all functions of R. They are: The horizontal velocity of point B1 is V1, and the angular velocity of the upper crank is ω1. According to the three-center theorem, we can get: The speed of point P is 5 times the speed of point C. Therefore, the speed of point C is:

[0061] For the movement of the lower looper:

[0062] As attached Fig.11 As shown, it is known GB1=2R; The calculation of the lower crank is similar, because point B1 is the same as point B1 of the upper crank. Therefore, when the horizontal push rod moves horizontally at a speed of V1: let the angle between B1G and B1O2 be β2.

[0063]

[0064] The straight line passing through point O2 and perpendicular to line AB1 is O2H, where point H is on the extension line of line B1G, the intersection point of the straight line passing through point G and perpendicular to line AB1 and the extension line of line AB1 is N, and the intersection point of the straight line passing through point G and perpendicular to line O2H and line O2H is M.

[0065] In the triangle HO2B1, the length of HO2 is: HO2 = tanβ2*B1O2. Set the angular velocity of the lower crank to ω2, and the angular velocity at any time is ω2. According to the three-center theorem: ω2*HO2 = V1, The corresponding velocity V of point G G for: The speed of the lower looper movement is:

[0066] Therefore, the relationship between the upper looper movement speed and the lower looper movement speed can be obtained as:

[0067] in:

[0068]

[0069] V c With V GThe relative quantitative relationship between V1 and V2 further proves the relative coordinated movement of the upper and lower needle tips, so that the horizontal push rod moves forward or backward at a certain speed ratio. When the suturing is not ideal, the horizontal push rod moves outward, and the internal mechanism can automatically return to the previous form according to the original movement speed ratio, which can further adapt to different situations during the operation and ensure the convenience of the surgical operation.

[0070] There are many specific implementation ways of the present invention. The above is only the preferred implementation mode of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A semi-automatic laparoscopic sewing suture forceps, characterized in that: It comprises a housing, a horizontal push rod (1), a fixed shaft sleeve (3), an upper connecting rod (4), a lower connecting rod (5), an upper suture clamp (6) and a lower suture clamp (7); The horizontal push rod (1) penetrates into the housing from the rear of the housing and passes through a fixed sleeve (3) fixedly installed inside the housing. The horizontal push rod (1) receives an external linear power source and performs linear reciprocating motion. The front part of the housing is provided with a step for accommodating the part to be sutured, the root of the upper suture clamp (6) is hinged in the housing and is located at the upper part of the step, the root of the lower suture clamp (7) is also hinged in the housing and is located at the lower part of the step, and the length of the upper suture clamp (6) is greater than that of the lower suture clamp (7); The two ends of the upper connecting rod (4) are respectively hinged to the middle part of the upper suture clamp (6) and the front end of the horizontal push rod (1), and the two ends of the lower connecting rod (5) are respectively hinged to the middle part of the lower suture clamp (7) and the front end of the horizontal push rod (1).

2. The semi-automatic laparoscopic sewing suture forceps according to claim 1, characterized in that: The top end of the upper suture clamp (6) is provided with an upper curved needle (8) for installing sutures, and the top end of the lower suture clamp (7) is provided with a lower curved needle (9) for installing sutures. The upper curved needle (8) and the lower curved needle (9) are in the shape of curved hooks arranged opposite to each other, and thread holes are opened on the upper curved needle (8) and the lower curved needle (9).

3. The semi-automatic laparoscopic sewing suture forceps according to claim 1, characterized in that: The front part of the upper connecting rod (4) has an arc-shaped curved section that arches upward.

4. The semi-automatic laparoscopic sewing suture forceps according to claim 1, characterized in that: A limiting protrusion (2) is also fixedly mounted on the horizontal push rod (1).

5. The semi-automatic laparoscopic sewing suture forceps according to claim 2, characterized in that: There are two fixed shaft sleeves (3), both of which are fixedly installed in the housing and are located at the front and rear sides of the limiting protrusion (2).

6. A laparoscopic semi-automatic sewing suture forceps according to any one of claims 1 to 5, characterized in that: The hinge point O2 at the root of the lower suture clamp (7) and the center line AB1 of the horizontal push rod (1) are on the same straight line, and the hinge point O1 at the root of the upper suture clamp (6) is above the straight line.

7. The laparoscopic semi-automatic sewing suture forceps according to claim 6, characterized in that: The distance between the hinge point O1 at the root of the upper suture clamp (6) and the fixed point P of the upper curved needle (8) is R, and the distance between the hinge point O2 at the root of the lower suture clamp (7) and the fixed point Q of the lower curved needle (9) is r; The intersection point of the straight line passing through point O1 and perpendicular to line AB1 and the extended line of line AB1 is F, O1F=r and O2F=R; The hinge point between the upper suture clamp (6) and the upper connecting rod (4) is C, the hinge point between the lower suture clamp (7) and the lower connecting rod (5) is G, and the hinge points of the upper connecting rod (4), the lower connecting rod (5) and the horizontal push rod (1) are all B1. The positional relationship between the points is: GB1=2R。

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