Semi-automatic arc needle suturing device

Abstract

The present invention discloses a semi-automatic arc needle suturing device, comprising a main shaft, wherein a liquid channel shifter for changing the flow direction of liquid is provided in the middle of the main shaft, and the main shaft is respectively sleeved with a distal rotating cylinder and a proximal rotating cylinder at both ends of the liquid channel shifter. The present invention is that under the continuous control of the hydraulic system, when the two rotating cylinders rotate 180° in the opposite direction and reach the limit, the originally opened chuck is first closed, and then the originally closed chuck is opened again. Subsequently, the rotating cylinder can be controlled to reversely move again, thereby completing the cyclic reciprocating action of "rotating cylinder rotating-proximal chuck catching-distal chuck vertically-rotating cylinder rotating-distal chuck catching-proximal chuck vertically". When the output power is the same, the present device reduces the difficulty of hydraulic sealing, reduces the number of hydraulic channels, and provides high-precision control. At the same time, since the actuator of the hydraulic system has the lightest weight, the volume of the device can be reduced, thereby entering a thinner channel in the human body cavity.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, in particular to a semi-automatic arc needle suturing device. Background Art

[0002] In clinical practice, in cases of intracavitary surgery such as perforation of hollow organs, severe bleeding, fistula, etc., laparoscopy or even open surgery is often required for suture repair or hemostasis, which increases the trauma and medical burden on patients. Although there are devices to replace manual suturing in the digestive system, there is still a high failure rate, and there are no devices to replace manual suturing in the urological and gynecological systems. The key reason is the lack of an intracavitary semi-automatic suturing principle that can fully simulate the sequential actions of manual suturing.

[0003] Ureteral flexible endoscopes are extremely thin, and conventional servo motors at the front are not up to the task. In addition, the urinary cavity is a liquid working condition. At the same time, since the flexible endoscope system is soft, taking the ureteral flexible endoscope as an example, the insertion of a guide wire or laser fiber into the channel will limit the flexion angle of the distal end of the flexible endoscope. If a mechanical power transmission system is used, it will inevitably interfere with the flexion angle of the flexible endoscope and affect the treatment effect. Therefore, the mechanical principle is not ideal. In cases where the operation steps are complicated and the actuator is far away from the power element, it is difficult to grasp the precision control of the mechanical principle.

[0004] There is currently no effective solution to the above problems. Summary of the invention

[0005] In view of the above technical problems in the related art, the present invention proposes a semi-automatic arc needle suturing device, which can overcome the above shortcomings of the prior art.

[0006] To achieve the above technical objectives, the technical solution of the present invention is implemented as follows: A semi-automatic arc needle suturing device comprises a main shaft, wherein a liquid channel shifter for changing the flow direction of liquid is provided in the middle of the main shaft, a distal rotating cylinder and a proximal rotating cylinder are respectively sleeved on both ends of the liquid channel shifter, the main shaft is provided with partitions in the same direction on the shaft sections of the distal rotating cylinder and the proximal rotating cylinder, a C-shaped hydraulic bag assembly for pushing the distal rotating cylinder and the proximal rotating cylinder to rotate in different directions is sleeved on the main shaft, a distal stopper is provided at the outer end of the distal rotating cylinder, and a proximal stopper is provided at the outer end of the proximal rotating cylinder; a linear hydraulic bag is provided inside the outer end hydraulic cylinder of the distal rotating cylinder and the outer end hydraulic cylinder of the proximal rotating cylinder, a chuck structure is provided outside the hydraulic cylinder of the distal rotating cylinder and the hydraulic cylinder of the proximal rotating cylinder, and the chuck structures are movably connected; The liquid channels in the device are: The left rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly of the proximal rotating drum extending clockwise, the left-to-right channel in the liquid channel shifter and the C-shaped hydraulic bag assembly of the distal rotating drum extending counterclockwise; The right rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly of the proximal rotating drum extending counterclockwise, the right-to-left channel in the liquid channel shifter and the C-shaped hydraulic bag assembly of the distal rotating drum extending clockwise; The main shaft liquid channel is connected with the linear hydraulic bag in the proximal rotating cylinder through the liquid channel in the proximal rotating cylinder, and is connected with the linear hydraulic bag in the proximal rotating cylinder through the liquid channel in the distal rotating cylinder.

[0007] Furthermore, the C-shaped hydraulic bag assembly includes a C-shaped hydraulic bag and a base that form a ring structure in pair, wherein the ends of the two C-shaped hydraulic bags at one ring connection are connected to the base, the partition is located in the gap of the base, and blades are provided in the distal rotating cylinder and the proximal rotating cylinder, and the blades are located at the other ring connection of the paired C-shaped hydraulic bags in the ring structure.

[0008] Furthermore, the liquid channel shifter is provided with two pipelines for changing the flow direction of the liquid, the pipelines are fixedly connected to the base, and the linear hydraulic bag is connected to the two pipelines through a hose.

[0009] Furthermore, a piston and a piston rod are provided in the distal rotating cylinder and the proximal rotating cylinder, the piston is connected to the corresponding piston rod, the end of the piston rod is provided with a corresponding chuck connecting rod, the chuck connecting rod is connected to the corresponding chuck structure through a corresponding round pin, and the chuck structure of the distal rotating cylinder and the chuck structure of the proximal rotating cylinder are symmetrically arranged and movably connected.

[0010] Furthermore, the chuck structure includes two chucks of the same structure, the chuck connecting rods are both provided with chuck round pins, the grooves on the sides of the chucks are L-shaped structures, wherein the short grooves are away from the symmetry axes of the two chuck structures, and the chuck round pins are used to control the opening and closing of the chuck structure when sliding in the short grooves, and the chuck round pins are used to control the closed static state of the chuck structure when sliding in the long grooves.

[0011] Furthermore, a distal piston is provided inside the outer hydraulic cylinder of the distal rotating cylinder, and the distal piston is sleeved on the distal piston rod. The internal space of the outer hydraulic cylinder of the distal rotating cylinder is divided into a distal piston chamber and a distal piston rod chamber by the distal piston. A distal linear motion hydraulic bag is provided in the distal piston rod chamber, and a distal spring for pushing the distal piston to move is provided in the distal piston chamber. A distal chuck connecting rod is provided at the outer end of the distal piston rod, and the distal chuck connecting rod is movably connected to the distal chuck structure through a distal round pin.

[0012] Furthermore, a proximal piston is provided inside the outer hydraulic cylinder of the proximal rotating drum, and the proximal piston is sleeved on the proximal piston rod. The internal space of the outer hydraulic cylinder of the proximal rotating drum is divided into a proximal piston chamber and a proximal piston rod chamber by the proximal piston. A proximal linear motion hydraulic bag is provided in the proximal piston chamber, and a proximal spring for pushing the proximal piston to move is provided in the proximal piston rod chamber. A proximal chuck connecting rod is provided at the outer end of the proximal piston rod, and the proximal chuck connecting rod is movably connected to the proximal chuck structure through a proximal round pin.

[0013] Furthermore, the distal spring has the same shape and parameters as the proximal spring.

[0014] Furthermore, the distal linear hydraulic bladder and the proximal linear hydraulic bladder have the same shape and parameters.

[0015] Beneficial effects of the present invention: Under the continuous control of the hydraulic system, when the two drums rotate 180° in the opposite direction and reach the limit, the originally opened chuck is closed first, and then the originally closed chuck is opened again. The drum can then be controlled to reverse, thereby completing the cyclic reciprocating action of "drum rotation-proximal chuck capture-distal chuck vertical-drum rotation-distal chuck capture-proximal chuck vertical". When the output power is the same, the device reduces the difficulty of hydraulic sealing, reduces the number of hydraulic channels, and provides high-precision control. At the same time, since the actuator of the hydraulic system is the lightest, the volume of the device can be reduced, thereby entering a smaller channel in the human body cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a schematic diagram of the overall structure of a semi-automatic arc needle suturing device according to an embodiment of the present invention; Figure 2 is a structural schematic diagram of a semi-automatic arc needle suturing device according to an embodiment of the present invention in a limit position state; Figure 3 is a schematic diagram of the internal structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention in the limit position state; Figure 4 Schematic diagram of the liquid channel in the semi-automatic arc needle suturing device according to an embodiment of the present invention under the extreme position state; Figure 5 2 is a schematic diagram of the structure of a liquid channel shifter of a semi-automatic arc needle suturing device according to an embodiment of the present invention; Figure 6 2 is a schematic diagram of the chuck structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention; Figure 7 2 is a schematic diagram of a C-shaped hydraulic bag and a base structure of a semi-automatic arc needle suturing device according to an embodiment of the present invention; Figure 8 2 is a schematic diagram of the structure of a C-shaped hydraulic bag of a semi-automatic arc needle suturing device according to an embodiment of the present invention; Fig. 9 Schematic diagram of the rotary drum structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention Figure 1 ; Fig.10 Schematic diagram of the rotary drum structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention Figure 2 ; Fig.11 2 is a schematic diagram of the linear hydraulic bag structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention; Fig.12 is a schematic diagram of a proximal piston of a semi-automatic arc needle suturing device according to an embodiment of the present invention; Fig.13 2 is a schematic diagram of the distal piston structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention; Fig.14 2 is a schematic diagram of the proximal connecting rod structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention; Fig.15 2 is a schematic diagram of the distal connecting rod structure of the semi-automatic arc needle suturing device according to an embodiment of the present invention; In the figure: 1, main shaft; 2, liquid channel shifter; 3, partition; 4, distal rotating cylinder; 5, proximal rotating cylinder; 6, distal stopper; 7, proximal stopper; 8, C-shaped hydraulic bag; 9, base; 10, blade; 41. distal piston; 42. distal piston rod; 43. distal linear motion hydraulic bag; 44. distal spring; 45. distal chuck connecting rod; 46. distal round pin; 47. distal chuck structure; 51. proximal piston; 52. proximal piston rod; 53. proximal linear motion hydraulic bag; 54. proximal spring; 55. proximal chuck connecting rod; 56. proximal round pin; 57. proximal chuck structure. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0019] like Figure 1-15 As shown, a semi-automatic arc needle suturing device according to an embodiment of the present invention comprises a main shaft 1, a liquid channel shifter 2 for changing the flow direction of the liquid is provided in the middle of the main shaft 1, a distal rotating cylinder 4 and a proximal rotating cylinder 5 are respectively sleeved on the two ends of the liquid channel shifter 2, the main shaft 1 is provided with a partition 3 with the same direction on the axial sections of the distal rotating cylinder 4 and the proximal rotating cylinder 5, a C-shaped hydraulic bag assembly for pushing the distal rotating cylinder 4 and the proximal rotating cylinder 5 to rotate in different directions is sleeved on the main shaft 1, the main shaft 1 is provided with a distal stopper 6 at the outer end of the distal rotating cylinder 4, and the main shaft 1 is provided with a proximal stopper 7 at the outer end of the proximal rotating cylinder 5; a linear hydraulic bag is provided inside the outer end hydraulic cylinder of the distal rotating cylinder 4 and the outer end hydraulic cylinder of the proximal rotating cylinder 5, a chuck structure is provided outside the hydraulic cylinder of the distal rotating cylinder 4 and the hydraulic cylinder of the proximal rotating cylinder 5, and the chuck structures are movably connected; The liquid channels in the device are: The left rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly extending clockwise of the proximal rotating drum 5, the left-to-right channel in the liquid channel shifter 2 and the C-shaped hydraulic bag assembly extending counterclockwise of the distal rotating drum 4; The right rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly extending counterclockwise from the proximal rotating drum 5, the right-to-left channel in the liquid channel shifter 2 and the C-shaped hydraulic bag assembly extending clockwise from the distal rotating drum 4; The main shaft liquid channel is connected with the linear hydraulic bag in the proximal rotating cylinder 5 through the liquid channel in the proximal rotating cylinder 5, and is connected with the linear hydraulic bag in the proximal rotating cylinder 5 through the liquid channel in the distal rotating cylinder 4.

[0020] The C-shaped hydraulic bag assembly includes a C-shaped hydraulic bag 8 and a base 9 that form a ring structure in pair, wherein the ends of the two C-shaped hydraulic bags 8 at one ring joint are connected to the base 9, the partition 3 is located in the gap of the base 9, and blades 10 are provided in the distal rotating cylinder 4 and the proximal rotating cylinder 5, and the blades 10 are located at the other ring joint of the paired C-shaped hydraulic bags 8 in the ring structure.

[0021] The liquid channel shifter 2 is provided with two pipelines for changing the flow direction of the liquid, and the pipelines are fixedly connected to the base 9. The linear hydraulic bag is connected to the two pipelines through a hose.

[0022] The distal rotating cylinder 4 and the proximal rotating cylinder 5 are both provided with a piston and a piston rod, the piston is connected to the corresponding piston rod, the end of the piston rod is provided with a corresponding chuck connecting rod, the chuck connecting rod is connected to the corresponding chuck structure through a corresponding round pin, the chuck structure of the distal rotating cylinder 4 and the chuck structure of the proximal rotating cylinder 5 are symmetrically arranged and movably connected.

[0023] The chuck structure includes two chucks of the same structure, and the chuck connecting rods are both provided with chuck round pins. The grooves on the sides of the chucks are of an L-shaped structure, wherein the short grooves are away from the symmetry axes of the two chuck structures. The chuck round pins are used to control the opening and closing of the chuck structure when sliding in the short grooves, and are used to control the closed static state of the chuck structure when sliding in the long grooves.

[0024] A distal piston 41 is provided inside the outer hydraulic cylinder of the distal rotating cylinder 4, and the distal piston 41 is sleeved on a distal piston rod 42. The inner space of the outer hydraulic cylinder of the distal rotating cylinder 4 is divided into a distal piston chamber and a distal piston rod chamber by the distal piston 41. A distal linear motion hydraulic bag 43 is provided in the distal piston rod chamber, and a distal spring 44 for pushing the distal piston 41 to move is provided in the distal piston chamber. A distal chuck connecting rod 45 is provided at the outer end of the distal piston rod 42, and the distal chuck connecting rod 45 is movably connected to a distal chuck structure 47 via a distal round pin 46.

[0025] A proximal piston 51 is provided inside the outer hydraulic cylinder of the proximal rotating cylinder 5, and the proximal piston 51 is sleeved on a proximal piston rod 52. The inner space of the outer hydraulic cylinder of the proximal rotating cylinder 5 is divided into a proximal piston chamber and a proximal piston rod chamber by the proximal piston 51. A proximal linear motion hydraulic bag 53 is provided in the proximal piston chamber, and a proximal spring 54 for pushing the proximal piston 51 to move is provided in the proximal piston rod chamber. A proximal chuck connecting rod 55 is provided at the outer end of the proximal piston rod 52, and the proximal chuck connecting rod 55 is movably connected to the proximal chuck structure 57 via a proximal round pin 56.

[0026] The distal spring 44 and the proximal spring 54 have the same shape and parameters.

[0027] The distal linear hydraulic bladder 43 and the proximal linear hydraulic bladder 53 have the same shape and parameters.

[0028] In order to facilitate understanding of the above technical solutions of the present invention, the above technical solutions of the present invention are described in detail below through specific usage methods.

[0029] In specific use, according to the semi-automatic arc needle suturing device described in the present invention, the system consists of a shaft, a proximal stopper, a proximal rotating cylinder, a distal rotating cylinder and a distal stopper. The middle section of the shaft is provided with a liquid channel shifter, and the remaining shaft sections are provided with a partition. The shaft is tightly connected to the proximal stopper and the distal stopper. The shaft section between the proximal stopper and the liquid channel shifter is equipped with a proximal rotating cylinder, and the shaft section between the liquid channel shifter and the distal stopper is equipped with a distal rotating cylinder.

[0030] The shaft partition separates the space formed by the proximal rotor and the corresponding shaft section, the proximal limiter and the liquid channel shifter into two independent spaces. A C-shaped hydraulic bag is installed in each independent space. When the C-shaped hydraulic bag on the left is extended, it can push the proximal rotor blades clockwise, and when the C-shaped hydraulic bag on the right is extended, it can push the proximal rotor blades counterclockwise.

[0031] The shaft partition separates the space formed by the distal rotor and the corresponding shaft section, the liquid channel shifter and the distal limiter into two independent spaces. A C-shaped hydraulic bag is installed in each independent space. When the C-shaped hydraulic bag on the left is extended, it can push the distal rotor blades clockwise, and when the C-shaped hydraulic bag on the right is extended, it can push the distal rotor blades counterclockwise.

[0032] Due to the existence of the shaft partition, the near-end rotating cylinder and the far-end rotating cylinder can only make relative reciprocating motion or remain stationary within the same 180° range. When they are stationary at their respective limit positions, the angle between the two is always 180°.

[0033] Each rotating cylinder contains a piston, a connecting rod and a pair of chucks. The piston is tightly connected to the connecting rod. The end of the connecting rod is connected to each chuck through a round pin-slideway structure. The groove on the side of the chuck is L-shaped, divided into a long groove and a short groove. The proximal chuck and the distal chuck are symmetrically arranged. The L-shaped groove is also symmetrical, and the short groove is located on the outside relative to the symmetry axis. The round pin controls the opening and closing of the chuck when sliding in the short groove, and controls the static state of the chuck when sliding in the long groove.

[0034] The space inside the outer cylinder of each rotating cylinder is divided into a piston chamber and a piston rod chamber by the piston. A linear motion hydraulic bag is provided in the piston chamber of the proximal rotating cylinder, and a spring is provided in the piston rod chamber, which always exerts thrust on the piston. A linear motion hydraulic bag is provided in the piston rod chamber of the distal rotating cylinder, which surrounds the piston rod, and a spring is provided in the piston chamber, which always exerts thrust on the piston. The spring in the piston rod chamber of the proximal rotating cylinder has the same shape and parameters as the spring in the piston chamber of the distal rotating cylinder. In order to synchronize the output force of the proximal and distal hydraulic bags, the hydraulic bag in the piston chamber of the proximal rotating cylinder has the same shape and parameters as the hydraulic bag in the piston rod chamber of the distal rotating cylinder.

[0035] The connecting pipe connects the external hydraulic power and control components. The connecting pipe contains two liquid channels, namely: The left drum rotation liquid channel is connected with the near-end drum clockwise C-shaped hydraulic bag, the left-to-right channel in the liquid channel shifter and the far-end drum counterclockwise C-shaped hydraulic bag. This control channel is the drum rotation control channel 1.

[0036] The right drum rotation liquid channel is connected with the counterclockwise C-shaped hydraulic bag of the near-end drum, the right-to-left channel in the liquid channel shifter and the clockwise C-shaped hydraulic bag of the far-end drum. This control channel is the drum rotation control channel 2.

[0037] The shaft contains a liquid channel, which is connected to the linear hydraulic bag in the piston cavity of the proximal drum through the liquid channel in the proximal drum, and is connected to the hydraulic bag in the piston rod cavity of the distal drum through the liquid channel in the distal drum. This control passage is the chuck control passage.

[0038] Under the control of the hydraulic control system, the drum rotation control passage 1 and the drum rotation control passage 2 synchronously inflow and outflow of liquid in opposite directions, and synchronously stop. The logic sequence of the entire system is as follows: Drum rotation control path 1: ...→liquid inlet→stationary→liquid outlet→stationary→liquid inlet...; Drum rotation control path 2: ...→ liquid discharge→ stationary→ liquid inflow→ stationary→ liquid discharge...; The chuck control path: ...→static→liquid inflow (or liquid outflow)→static→liquid outflow (or liquid inflow)→static….

[0039] Under the control of the hydraulic control system, the drum rotation control passage 1 and the drum rotation control passage 2 synchronously inhale and exhale fluid in opposite directions, and synchronously stop. When the two synchronously inhale and exhale fluid in opposite directions, the corresponding C-shaped hydraulic bag stretches or contracts, causing the two drums to synchronously rotate relative to each other to the limit position. At this time, the chuck control passage remains stationary. When the two are stationary, the corresponding C-shaped hydraulic bag maintains its shape, causing the two drums to synchronously stop. When the two drums are stationary at the limit position, the chuck control passage can inhale and exhale fluid or stop, and control the corresponding linear motion hydraulic bag to stretch, contract or stop, and with the cooperation of the spring, the proximal piston and the distal piston are synchronously moved in the same direction or are synchronously stopped, further driving the proximal connecting rod and the distal connecting rod to synchronously move in the same direction or are synchronously stopped.

[0040] When the proximal connecting rod and the distal connecting rod move synchronously and in the same direction from one side limit position to the other side limit position, the round pin of the connecting rod at one end slides from the long groove to the short groove of the L-shaped groove, while the round pin of the connecting rod at the other end slides from the short groove to the long groove of the L-shaped groove in the opposite direction. The connecting rod sliding from the long groove to the short groove opens the originally closed chuck, while the connecting rod sliding from the short groove to the long groove closes the originally opened chuck, and the originally opened chuck is always closed first.

[0041] Under the continuous control of the hydraulic system, when the two drums rotate 180° in the opposite direction and reach the limit, the chuck that was originally opened closes first, and then the chuck that was originally closed opens again. Then the drum can be controlled to reverse again. Thus, the reciprocating action of "drum rotation-near end chuck capture-far end chuck vertical-drum rotation-far end chuck capture-near end chuck vertical" is completed.

[0042] The device can complete the cyclic reciprocating action of "rotating drum rotating - proximal chuck catching - distal chuck extending - rotating drum rotating - distal chuck catching - proximal chuck extending", thereby completing the sequential action simulation of artificial continuous suturing during surgery in the natural cavity of the human body, and further avoiding greater surgical trauma, bringing benefits to doctors and patients.

[0043] In summary, with the help of the above technical solution of the present invention, under the continuous control of the hydraulic system, when the two drums rotate 180° in the opposite direction and reach the limit, the originally opened chuck is closed first, and then the originally closed chuck is opened again. The drum can then be controlled to reverse, thereby completing the cyclic reciprocating action of "drum rotation-proximal chuck capture-distal chuck vertical-drum rotation-distal chuck capture-proximal chuck vertical". When the output power is the same, the device reduces the difficulty of hydraulic sealing, reduces the number of hydraulic channels, and provides high-precision control. At the same time, since the actuator of the hydraulic system is the lightest, the volume of the device can be reduced, thereby entering a smaller channel in the human body cavity.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A semi-automatic arc needle suturing device, characterized in that: The invention comprises a main shaft (1), wherein a liquid channel shifter (2) for changing the flow direction of liquid is provided in the middle of the main shaft (1), wherein a distal rotating cylinder (4) and a proximal rotating cylinder (5) are sleeved on both ends of the liquid channel shifter (2), wherein the main shaft (1) is provided with a partition plate (3) with the same direction on the shaft sections of the distal rotating cylinder (4) and the proximal rotating cylinder (5), and wherein a C-shaped rotating cylinder (3) for driving the distal rotating cylinder (4) and the proximal rotating cylinder (5) to rotate in different directions is sleeved on the main shaft (1). A shaped hydraulic bag assembly, wherein the main shaft (1) is provided with a distal stopper (6) at the outer end of the distal rotating cylinder (4), and the main shaft (1) is provided with a proximal stopper (7) at the outer end of the proximal rotating cylinder (5); a linear hydraulic bag is provided inside the outer end hydraulic cylinder of the distal rotating cylinder (4) and the outer end hydraulic cylinder of the proximal rotating cylinder (5), and a chuck structure is provided outside the hydraulic cylinder of the distal rotating cylinder (4) and the outer end hydraulic cylinder of the proximal rotating cylinder (5), and the chuck structures are movably connected; The liquid channels in the device are: The left rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly extending clockwise of the proximal rotating drum (5), the left-to-right channel in the liquid channel shifter (2) and the C-shaped hydraulic bag assembly extending counterclockwise of the distal rotating drum (4); The right rotating drum makes the rotating liquid channel communicate with the C-shaped hydraulic bag assembly extending counterclockwise of the proximal rotating drum (5), the right-to-left channel in the liquid channel shifter (2) and the C-shaped hydraulic bag assembly extending clockwise of the distal rotating drum (4); The main shaft liquid channel is connected to the linear hydraulic bag in the proximal rotating cylinder (5) through the liquid channel in the proximal rotating cylinder (5), and is connected to the linear hydraulic bag in the proximal rotating cylinder (5) through the liquid channel in the distal rotating cylinder (4).

2. The semi-automatic arc needle suturing device according to claim 1, characterized in that: The C-shaped hydraulic bag assembly comprises a pair of C-shaped hydraulic bags (8) and a base (9) forming an annular structure, wherein the ends of the two C-shaped hydraulic bags (8) at one annular joint are connected to the base (9), the partition plate (3) is located in the gap of the base (9), and blades (10) are provided in the distal rotating cylinder (4) and the proximal rotating cylinder (5), and the blades (10) are located at the other annular joint of the pair of C-shaped hydraulic bags (8) in the annular structure.

3. The semi-automatic arc needle suturing device according to claim 2, characterized in that: The liquid channel shifter (2) is provided with two pipes for changing the flow direction of the liquid, the pipes are fixedly connected to the base (9), and the linear hydraulic bag is connected to the two pipes via a hose.

4. The semi-automatic arc needle suturing device according to claim 1, characterized in that: The distal rotating cylinder (4) and the proximal rotating cylinder (5) are both provided with a piston and a piston rod, the piston is connected to the corresponding piston rod, the end of the piston rod is provided with a corresponding chuck connecting rod, the chuck connecting rod is connected to the corresponding chuck structure through a corresponding round pin, and the chuck structure of the distal rotating cylinder (4) and the chuck structure of the proximal rotating cylinder (5) are symmetrically arranged and movably connected.

5. The semi-automatic arc needle suturing device according to claim 4, characterized in that: The chuck structure includes two chucks of the same structure, and the chuck connecting rods are both provided with chuck round pins. The grooves on the sides of the chucks are of an L-shaped structure, wherein the short grooves are away from the symmetry axes of the two chuck structures. The chuck round pins are used to control the opening and closing of the chuck structure when sliding in the short grooves, and are used to control the closed static state of the chuck structure when sliding in the long grooves.

6. The semi-automatic arc needle suturing device according to claim 4, characterized in that: A distal piston (41) is provided inside the outer hydraulic cylinder of the distal rotating cylinder (4), and the distal piston (41) is sleeved on the distal piston rod (42). The inner space of the outer hydraulic cylinder of the distal rotating cylinder (4) is divided into a distal piston chamber and a distal piston rod chamber by the distal piston (41). A distal linear motion hydraulic bag (43) is provided in the distal piston rod chamber, and a distal spring (44) for pushing the distal piston (41) to move is provided in the distal piston chamber. A distal chuck connecting rod (45) is provided at the outer end of the distal piston rod (42), and the distal chuck connecting rod (45) is movably connected to the distal chuck structure (47) via a distal round pin (46).

7. The semi-automatic arc needle suturing device according to claim 6, characterized in that: A proximal piston (51) is provided inside the outer hydraulic cylinder of the proximal rotating cylinder (5), and the proximal piston (51) is sleeved on a proximal piston rod (52). The inner space of the outer hydraulic cylinder of the proximal rotating cylinder (5) is divided into a proximal piston chamber and a proximal piston rod chamber by the proximal piston (51). A proximal linear motion hydraulic bag (53) is provided in the proximal piston chamber, and a proximal spring (54) for pushing the proximal piston (51) to move is provided in the proximal piston rod chamber. A proximal chuck connecting rod (55) is provided at the outer end of the proximal piston rod (52), and the proximal chuck connecting rod (55) is movably connected to the proximal chuck structure (57) via a proximal round pin (56).

8. The semi-automatic arc needle suturing device according to claim 7, characterized in that: The distal end spring (44) and the proximal end spring (54) have the same shape and parameters.

9. The semi-automatic arc needle suturing device according to claim 7, characterized in that: The distal linear hydraulic bladder (43) and the proximal linear hydraulic bladder (53) have the same shape and parameters.

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