Endoscope suturing device

Abstract

The invention provides an endoscope suturing device. The endoscope suturing device comprises an endoscope, a main needle control module, an auxiliary needle control module and a lifting and thread trimming module. The main needle control module comprises a main needle driving assembly, a first connecting rod and a first control assembly which are connected in sequence; the auxiliary needle control module comprises an auxiliary needle switching assembly, a second connecting rod and a second control assembly which are connected in sequence; the lifting and thread trimming module comprises a lifting and thread trimming assembly, a third connecting rod and a third control assembly which are connected in sequence; according to the device, continuous suturing can be conducted on a human tissue wound at a time, a minimally invasive surgery mode is adopted, surgery operation is smooth, structural arrangement is reasonable, the main needle and the auxiliary needle are convenient to control, the efficiency and quality of the minimally invasive surgery are remarkably improved, and the lifting and thread cutting assembly has the functions of lifting the human tissue and cutting off a suture thread at the same time; compared with the arrangement of two modules, precious channel occupation of the endoscope can be reduced, meanwhile, module installation steps are saved, and the operation process is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an endoscopic suturing device. Background Art

[0002] Minimally invasive surgery is a type of surgery with tiny incisions. Due to the small incision, minimally invasive surgery can reduce the patient's blood loss during the operation and reduce the patient's pain after the operation. During the operation, the surgeon places an endoscope into the patient's body and observes the patient's internal conditions through the endoscope. Under the action of the endoscope, the surgeon can perform the corresponding surgical operations and postoperative sutures in the patient's body.

[0003] During minimally invasive surgery, there is a widespread demand for devices that can close wounds with sutures, similar to open laparotomy. Many of the existing related technologies are unable to perform continuous sutures on wounds at one time, and require multiple installations of suture devices. Some devices that can perform continuous sutures on wounds at one time are still not very smooth to operate, so there is a need for an integrated endoscopic suture device with a more reasonable structure and smoother operation to suture wounds in the stomach and other locations. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated endoscopic suturing device with reasonable structure and smooth operation in view of the deficiencies existing in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned object, the present invention provides an endoscopic suturing device, including an endoscope, a main needle control module, an auxiliary needle control module and a lifting and cutting thread module;

[0006] The main needle control module includes a main needle drive assembly, a first connecting rod and a first control assembly connected in sequence; the auxiliary needle control module includes an auxiliary needle switching assembly, a second connecting rod and a second control assembly connected in sequence; the lifting and cutting thread module includes a lifting and cutting thread assembly, a third connecting rod and a third control assembly connected in sequence; the first control assembly controls the main needle drive assembly through a first control steel wire, and the first control steel wire is passed through the first connecting rod; the second control assembly controls the auxiliary needle switching assembly through a second control steel wire, and the second control steel wire is passed through the second connecting rod; the third control assembly controls the lifting and cutting thread assembly through a third control steel wire, and the third control steel wire is passed through the third connecting rod;

[0007] The main needle driving assembly is used to drive the main needle, the auxiliary needle switching assembly is used to fix and release the auxiliary needle, the auxiliary needle is matched with the main needle, the auxiliary needle is connected to the suture thread, and the lifting and cutting thread assembly is used to lift the human tissue and cut the suture thread that has been sutured;

[0008] The endoscope is provided with multiple functional channels, the first functional channel corresponds to the main needle control module, the first connecting rod passes through the first functional channel, and the main needle driving assembly is fixed at the inner end of the endoscope; the second functional channel corresponds to the auxiliary needle control module, the auxiliary needle switching assembly and the second connecting rod pass through the second functional channel, and the auxiliary needle switching assembly is detachably arranged at the inner end of the endoscope; the third functional channel corresponds to the lifting and thread cutting module, the lifting and thread cutting assembly and the third connecting rod pass through the third functional channel, and the lifting and thread cutting assembly is detachably arranged at the inner end of the endoscope; the fourth functional channel is used for the image module to pass through.

[0009] Furthermore, the main needle drive assembly includes a connecting arm and a main needle drive seat, the main needle drive seat is provided with a connecting groove, the connecting arm includes a first connecting arm and a second connecting arm, the first end of the first connecting arm is fixedly connected to the main needle, the second end of the first connecting arm is provided with a pin shaft, the pin shaft is movably connected to the connecting groove, the first end of the second connecting arm is hinged to the first connecting arm, the second end of the second connecting arm is hinged to the main needle drive seat, and the first control wire is connected to the second end of the first connecting arm or the pin shaft.

[0010] Furthermore, the main needle drive assembly also includes a main needle reset spring, which is arranged in the connecting groove, and the two ends of the main needle reset spring are respectively connected to the second end of the first connecting arm and the main needle drive seat.

[0011] Furthermore, the first control assembly includes a first control seat, a fixed handle and a movable handle, the fixed handle is fixedly connected to the first control seat, the movable handle can rotate relative to the fixed handle, the second end of the first control wire is associated with the movable handle, and a first return spring is also arranged in the first control seat, and the first return spring is connected to the movable handle.

[0012] Furthermore, the auxiliary needle switching assembly includes a locking seat and a lock device arranged in the locking seat, the auxiliary needle is provided with a locking slot, the lock device is made of elastic material, the first end of the lock device is provided with a locking block matching the locking slot, the second end of the lock device is provided with a control surface, the control surface is inclined relative to the axial direction of the lock device, and a control ball is provided at the control surface position, and the control ball is connected to the first end of the first control wire.

[0013] Furthermore, the auxiliary needle is provided with a coupling block, the main needle is provided with a coupling groove matching the coupling block, the auxiliary needle is provided with a suture connecting groove, the first end of the suture is inserted into the suture connecting groove and fixed to the auxiliary needle.

[0014] Furthermore, the second control assembly includes a second control seat and a control button, the control button is movably connected to the second control seat, the second end of the second control wire is connected to the control button, and a second return spring is also arranged between the control button and the second control seat.

[0015] Furthermore, the lifting and cutting wire assembly includes a lifting and cutting wire seat and a lifting anchor, the lifting anchor is spirally arranged as a whole, the first end of the lifting anchor is provided with a spike portion, and the second end of the lifting anchor is connected to the first end of the third control wire.

[0016] Furthermore, the third control assembly includes a third control seat and a control knob, the control knob is movably connected to the third control seat, the second end of the third control wire is connected to the control knob, and a third return spring is also arranged between the control knob and the third control seat.

[0017] Furthermore, the lifting and cutting thread seat is provided with a blade, and the blade is used to cut the suture thread, so that the suture thread after the suturing is completed is cut off and retained at the wound position.

[0018] The above scheme of the present invention has the following beneficial effects:

[0019] The endoscopic suturing device provided by the present invention can perform continuous suturing of human tissue wounds at one time through the arrangement of the main needle control module, the auxiliary needle control module and the pulling and thread cutting module, adopts the minimally invasive surgery method, the surgical operation is smooth, the structure is reasonably arranged, the main needle and the auxiliary needle are convenient to control, and the efficiency and quality of minimally invasive surgery are significantly improved. In addition, the pulling and thread cutting component has the functions of pulling human tissue and cutting sutures at the same time. Compared with the arrangement of two modules, it can reduce the precious channel occupation of the endoscope, save the module installation steps, and simplify the operation process.

[0020] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the main needle driving assembly of the present invention;

[0023] Figure 3 is a schematic diagram of a first control component of the present invention;

[0024] Figure 4 It is a schematic diagram of the auxiliary needle switching assembly and the lifting and cutting thread of the present invention;

[0025] Figure 5 It is a schematic diagram of the cooperation between the auxiliary needle and the engaging device of the present invention;

[0026] Figure 6 This is a schematic diagram of the cooperation between the auxiliary needle and the main needle of the present invention;

[0027] Figure 7 is a schematic diagram of a second control component of the present invention;

[0028] Figure 8 is a schematic diagram of a third control component of the present invention;

[0029] Fig. 9 The present invention is a flow chart of cutting the suture thread after suturing.

[0030] [Description of Reference Numerals]

[0031] 10-operating table; 20-endoscope; 30-main needle control module; 31-first connecting rod; 32-first control wire; 33-main needle driving seat; 34-first connecting arm; 35-second connecting arm; 36-connecting groove; 37-pin shaft; 38-main needle return spring; 39-first control seat; 310-fixed handle; 311-movable handle; 40-auxiliary needle control module; 41-second connecting rod; 42-second control wire; 44-clamping seat; 45-clamping device; 46-clamping block; 47-control surface; 48-control ball; 49-second control seat; 410-control button; 411-second return spring; 50-lifting and trimming module; 51-third connecting rod; 52-third control wire; 53-lifting and trimming seat; 54-lifting anchor; 55-third control seat; 56-control knob; 57-third return spring; 58-blade; 60-main needle; 61-combination slot; 70-auxiliary needle; 71-card slot; 72-combination block; 73-suture connection slot; 80-suture. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a locking connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] like Figure 1 As shown, an embodiment of the present invention provides an endoscopic suturing device, including an operating table 10, an endoscope 20, a main needle control module 30, an auxiliary needle control module 40, and a lifting and cutting thread module 50. Among them, the main needle control module 30 includes a main needle driving component, a first connecting rod 31, and a first control component connected in sequence, the auxiliary needle control module 40 includes an auxiliary needle switching component, a second connecting rod 41, and a second control component connected in sequence, and the lifting and cutting thread module 50 includes a lifting and cutting thread component, a third connecting rod 51, and a third control component connected in sequence. The first control component is set independently of the operating table 10, and the second control component of the auxiliary needle control module and the third control component of the lifting and cutting thread module are all set on the operating table 10. The operating table 10 can be fixed on the arm or other installation positions through a fixing part, so that the operator can perform comprehensive operations of the three modules.

[0036] The endoscope 20 is provided with multiple functional channels, including four functional channels in this embodiment. Among them, the first functional channel corresponds to the main needle control module. After installation, the first connecting rod 31 passes through the first functional channel, and the main needle drive assembly is fixed to the inner end of the endoscope 20. The second functional channel corresponds to the auxiliary needle control module. After installation, the auxiliary needle switching assembly and the second connecting rod 41 pass through the second functional channel, and the auxiliary needle switching assembly extends partly from the inner end of the endoscope 20. The third functional channel corresponds to the lifting and cutting module. After installation, the lifting and cutting assembly and the third connecting rod 51 pass through the third functional channel, and the lifting and cutting assembly extends partly from the inner end of the endoscope 20. The fourth functional channel is used for the passage of the image module. Among them, the first control assembly controls the main needle drive assembly through the first control wire 32, and the first control wire 32 is inserted through the first connecting rod 31. The second control assembly controls the auxiliary needle switching assembly through the second control wire 42, and the second control wire 42 is inserted through the second connecting rod 41. The third control assembly controls the lifting and cutting assembly through the third control wire 52, and the third control wire 52 is passed through the third connecting rod 51. The control accuracy can be ensured by transmitting the driving force in the manner of driving the control wire.

[0037] In this embodiment, the main needle control module 30 is used to control the main needle 60, and the auxiliary needle control module is used to control the auxiliary needle 70, and the main needle 60 and the auxiliary needle 70 cooperate with each other. For the main needle 60, it is connected to the auxiliary needle 70 in the initial state of suturing, and the auxiliary needle 70 is connected to the end of the suture line 80. When suturing a wound of human tissue (such as a stomach wall wound), the main needle 60 and the auxiliary needle 70 are pierced and penetrated from the first side of the wound, and then the auxiliary needle 70 is inserted into the auxiliary needle switching assembly, and the auxiliary needle switching assembly fixes the auxiliary needle 70 so that the auxiliary needle 70 is separated from the main needle 60 after the main needle 60 is reset; then the main needle 60 (alone) is pierced and penetrated from the second side of the wound, and the auxiliary needle switching assembly loosens the auxiliary needle 70 after the auxiliary needle 70 is inserted, and the main needle 60 resets and drives the auxiliary needle 70 to pass through the second side of the wound in the opposite direction; the above process is repeated to connect the two sides of the wound with the suture line 80, and tightening the suture line 80 completes the suturing of the wound.

[0038] Therefore, during the suturing process, the main needle 60 needs to be driven repeatedly by the corresponding control wire to puncture and reset the human tissue, and the auxiliary needle 70 needs to be fixed and released. Figure 2As shown, the main needle drive assembly includes a connecting arm fixedly connected to the end of the main needle 60, and a main needle drive seat 33 connected to and supporting the connecting arm. The connecting arm includes a first connecting arm 34 and a second connecting arm 35, and a connecting groove 36 is provided on the main needle drive seat 33. The first end of the first connecting arm 34 is fixedly connected to the main needle 60, and the second end of the first connecting arm 34 is provided with a pin 37, which is movably connected to the connecting groove 36 and slides relative to the connecting groove 36 during the suturing process. The first end of the second connecting arm 35 is hinged to the first connecting arm 34, and the second end of the second connecting arm 35 is hinged to the main needle drive seat 33. Therefore, the first connecting arm 34 and the second connecting arm 35 together form a double-arm structure. The first control wire 32 is connected to the second end of the first connecting arm 34 or the pin 37. When the first control assembly pulls the first control wire 32, the first control wire 32 can pull the second end of the first connecting arm 34 to translate, so that the second end of the first connecting arm 34 forms a combined movement of translation and rotation around the hinge point of the second connecting arm 35, and punctures the human tissue according to a preset trajectory. The reset of the main needle 60 is completed by the main needle reset spring 38. Among them, the main needle reset spring 38 is arranged in the connecting groove 36, and the two ends of the main needle reset spring 38 are respectively connected to the second end (pin 37) of the first connecting arm 34 and the main needle driving seat 33, so that when the first control wire 32 pulls the first end of the first connecting arm 34 to translate, the main needle reset spring 38 is compressed, and the main needle reset spring 38 releases elastic potential energy during reset, so that the first end of the first connecting arm 34 translates in the opposite direction.

[0039] Therefore, through the combination of the first connecting arm 34 and the second connecting arm 35, for the rotation (superimposed translation) drive of the main needle 60, this transmission method can further improve the smoothness of the driving of the main needle 630 compared to the gear transmission, and the transmission of pulling force can be more direct, which can significantly reduce the sticking phenomenon.

[0040] At the same time Figure 3 As shown, the first control assembly includes a first control seat 39, a fixed handle 310 and a movable handle 311. The fixed handle 310 is fixedly connected to the first control seat 39, and the movable handle 311 can rotate relative to the fixed handle 310, so that the operator can hold the fixed handle 310 and the movable handle 311 during operation, and press the movable handle 311 to complete the pulling of the first control wire 32. The second end of the first control wire 32 is associated with the movable handle 311 in the first control seat 39, and the reset is completed by the main needle reset spring 38. Of course, a first reset spring can also be further provided in the first control seat 39, and the first reset spring directly provides elastic force to reset the movable handle 311.

[0041] At the same time Figure 4 , Figure 5As shown, the auxiliary needle switching assembly includes a snap seat 44 and a snapper 45 disposed in the snap seat 44. Among them, a snap slot 71 is provided on the auxiliary needle 70, and a snap block 46 matching the snap slot 71 is provided at the first end of the snapper 45, and the snapper 45 itself is made of elastic material. When the auxiliary needle 70 is inserted into the snapper 45 from the first end of the snapper 45, the conical surface (spike portion) at the front end of the auxiliary needle 70 can open the snap block 46, so that the snap block 46 moves to align with the snap slot 71 and then elastically recovers to snap the auxiliary needle 70. A control surface 47 is provided at the second end of the snapper 45, and the control surface 47 is also inclined relative to the axial direction of the snapper 45. At the same time, a control ball 48 is provided at the control surface 47, and the control ball 48 is spherical (or other shapes) and connected to the first end of the first control wire 32. When the auxiliary needle 70 needs to be released, the second control wire 42 is controlled to push the control ball 48, so that the control ball 48 moves along the control surface 47 toward the first end of the snap 45, so that the first end of the snap 45 is opened, and the block 46 is withdrawn from the slot 71 to release the auxiliary needle 70, so that the main needle 60 and the auxiliary needle 70 can be combined. Of course, the first end of the snap 45 is also provided with a plurality of notches, so that the first end of the snap 45 forms a petal-like structure, so that it can be opened smoothly under the action of the control ball 48.

[0042] At the same time Figure 6 As shown, the combination of the main needle 60 and the auxiliary needle 70 in this embodiment also adopts a similar structure, that is, a combination block 72 is provided at the rear of the auxiliary needle 70, and a combination groove 61 is provided at the front of the main needle 60. Of course, the thickness of the combination groove 61 and the combination block 72 is small and conical, and the limiting force is smaller than that of the auxiliary needle 70 and the clamp 45, which facilitates the clamp 45 to fix and release the auxiliary needle 70. In addition, in this embodiment, a suture connection groove 73 is provided on the auxiliary needle 70, and the first end of the suture 80 (after knotting) is inserted into the suture connection groove 73 to be fixed to the auxiliary needle 70.

[0043] At the same time Figure 7As shown, the second control assembly includes a second control seat 49 and a control button 410. The control button 410 is movably connected to the second control seat 49 and can move relative to the second control seat 49. The second end of the second control wire 42 is connected to the control button 410. When the operator presses the control button 410, the second control wire 42 can be pushed (the second control wire 42 has a certain rigidity), so that the control ball 48 at the first end of the second control wire 42 moves toward the first end of the snap 45, and the auxiliary needle 70 is released. As a preferred embodiment, a second reset spring 411 is also provided between the control button 410 and the second control seat 49. When the operator releases the control button 410, the control button 410 will automatically reset under the action of the second reset spring 411, so that the control ball 48 is reset. Therefore, after the auxiliary needle 70 is combined with the main needle 60, only the control button 410 needs to be released, and the main needle 60 can be controlled by the first control assembly to drive the auxiliary needle 70 to move, which simplifies the operator's operation.

[0044] In this embodiment, the lifting and cutting thread assembly includes a lifting and cutting thread seat 53 and a lifting anchor 54. The first end of the lifting anchor 54 is provided with a spike portion, and the entire lifting anchor 54 is spirally arranged so as to smoothly anchor into human tissue and lift it, so as to facilitate the main needle 60 and the auxiliary needle 70, or the main needle 60 alone to puncture human tissue. The second end of the lifting anchor 54 is connected to the first end of the third control wire 52 in the lifting and cutting thread seat 53. The third control wire 52 controls the displacement of the lifting anchor 54 on the one hand, and controls the rotation of the lifting anchor 54 on the other hand, so that the lifting anchor 54 can be smoothly anchored into human tissue.

[0045] At the same time Figure 8 As shown, the third control assembly includes a third control seat 55 and a control knob 56. The control knob 56 is movably connected to the third control seat 55 and can move and rotate relative to the third control seat 55. The second end of the third control wire 52 is connected to the control knob 56. When the operator presses the control knob 56, the third control wire 52 can be pushed (the third control wire 52 has a certain rigidity), so that the lifting anchor 54 at the first end of the third control wire 52 moves to the outside of the lifting and cutting wire seat 53 until it is inserted into the human tissue, and then the control knob 56 is synchronously rotated to allow the lifting anchor 54 to rotate and anchor into the human tissue, and then the control knob 56 is pulled outward. Similarly, a third reset spring 57 is also provided between the control knob 56 and the third control seat 55. When the operator releases the control knob 56, the control knob 56 will automatically reset under the action of the third reset spring 57, thereby resetting the lifting anchor 54. Of course, before this, the control knob 56 needs to be rotated in the opposite direction to separate from the human tissue.

[0046] In this embodiment, a blade 58 is provided at the end of the lifting and cutting seat 53. Preferably, the blade 58 is annularly arranged and is integrally formed with the edge of the lifting and cutting seat 53. The blade 58 is used to cut the suture 80 so that the suture 80 after suturing is completed is cut off and retained at the wound position. Fig. 9 As shown, after the suturing is completed, the first end of the suture 80 and the auxiliary needle 70 remain near the wound, and the second end of the suture 80 (the second end after being cut) is located in the first functional channel of the endoscope 20, that is, the channel where the auxiliary needle control module is located, and is not cut at this time but extends to the outside. Therefore, when cutting the thread, the lifting anchor 54 is first extended relative to the lifting thread cutting seat 53 through the control knob 56, and then the entire endoscope 20 is rotated. Due to the different channels, the suture 80 and the lifting anchor 54 have different rotation centers, and the first end of the suture 80 is stationary, so the suture 80 can be wound around the lifting anchor 54, and then the lifting anchor 54 is rotated. Based on the spiral shape of the lifting anchor 54, the suture 80 can be firmly wound. Then, the control knob 56 is pulled outward to retract the lifting anchor 54 into the lifting thread cutting seat 53. The suture 80 will be directly cut by the sharp blade 58 when passing the edge of the lifting thread cutting seat 53, so that the second end of the suture 80 is formed and retained near the wound. The lifting thread cutting module can be taken out as a whole to recover the suture 80 remaining on the lifting anchor 54.

[0047] As described above, the lifting and thread cutting assembly provided in this embodiment has the functions of lifting human tissue and cutting sutures. Compared with the setting of two modules, it can reduce the occupancy of the precious channel of the endoscope 20, save the module installation steps, and simplify the operation process.

[0048] It should be noted that, for the second end of the suture 80, a structure such as an auxiliary needle 70 is not provided in this embodiment. Instead, a barb structure is provided at the second end of the suture 80 to enhance the degree of integration with human tissue and prevent it from loosening before the wound heals.

[0049] In summary, the endoscopic suturing device provided in this embodiment, through the setting of the main needle control module 30, the auxiliary needle control module 40 and the pulling and cutting module 50, can continuously suture human tissue wounds at one time, adopts minimally invasive surgery, has smooth surgical operation, reasonable structural setting, and convenient control of the main needle 60 and the auxiliary needle 70, which significantly improves the efficiency and quality of minimally invasive surgery.

[0050] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An endoscopic suturing device, characterized in that: It includes an endoscope, a main needle control module, an auxiliary needle control module, and a lifting and thread cutting module; The main needle control module includes a main needle drive assembly, a first connecting rod and a first control assembly connected in sequence; the auxiliary needle control module includes an auxiliary needle switching assembly, a second connecting rod and a second control assembly connected in sequence; the lifting and cutting thread module includes a lifting and cutting thread assembly, a third connecting rod and a third control assembly connected in sequence; the first control assembly controls the main needle drive assembly through a first control steel wire, and the first control steel wire is passed through the first connecting rod; the second control assembly controls the auxiliary needle switching assembly through a second control steel wire, and the second control steel wire is passed through the second connecting rod; the third control assembly controls the lifting and cutting thread assembly through a third control steel wire, and the third control steel wire is passed through the third connecting rod; The main needle driving assembly is used to drive the main needle, the auxiliary needle switching assembly is used to fix and release the auxiliary needle, the auxiliary needle is matched with the main needle, the auxiliary needle is connected to the suture thread, and the lifting and cutting thread assembly is used to lift the human tissue and cut the suture thread that has been sutured; The endoscope is provided with a plurality of functional channels, a first functional channel corresponds to the main needle control module, the first connecting rod passes through the first functional channel, and the main needle drive assembly is fixed to the inner end of the endoscope; The second functional channel corresponds to the auxiliary needle control module, the auxiliary needle switching assembly and the second connecting rod pass through the second functional channel, and the auxiliary needle switching assembly is detachably arranged at the inner end of the endoscope; the third functional channel corresponds to the lifting and thread cutting module, the lifting and thread cutting assembly and the third connecting rod pass through the third functional channel, and the lifting and thread cutting assembly is detachably arranged at the inner end of the endoscope; the fourth functional channel is used for the image module to pass through.

2. An endoscopic suturing device according to claim 1, characterized in that: The main needle drive assembly includes a connecting arm and a main needle drive seat, a connecting groove is provided on the main needle drive seat, the connecting arm includes a first connecting arm and a second connecting arm, the first end of the first connecting arm is fixedly connected to the main needle, the second end of the first connecting arm is provided with a pin shaft, the pin shaft is movably connected to the connecting groove, the first end of the second connecting arm is hinged to the first connecting arm, the second end of the second connecting arm is hinged to the main needle drive seat, and the first control wire is connected to the second end of the first connecting arm or the pin shaft.

3. An endoscopic suturing device according to claim 2, characterized in that: The main needle drive assembly also includes a main needle reset spring, which is arranged in the connecting groove, and the two ends of the main needle reset spring are respectively connected to the second end of the first connecting arm and the main needle drive seat.

4. An endoscopic suturing device according to claim 1, characterized in that: The first control assembly includes a first control seat, a fixed handle and a movable handle. The fixed handle is fixedly connected to the first control seat, and the movable handle can rotate relative to the fixed handle. The second end of the first control wire is associated with the movable handle. A first return spring is also provided in the first control seat, and the first return spring is connected to the movable handle.

5. An endoscopic suturing device according to claim 1, characterized in that: The auxiliary needle switching assembly includes a snap-fit ​​seat and a snap-fit ​​device arranged in the snap-fit ​​seat, the auxiliary needle is provided with a snap slot, the snap-fit ​​device is made of elastic material, the first end of the snap-fit ​​device is provided with a snap block matching the snap slot, the second end of the snap-fit ​​device is provided with a control surface, the control surface is inclined relative to the axial direction of the snap-fit ​​device, a control ball is provided at the control surface position, and the control ball is connected to the first end of the first control wire.

6. An endoscopic suturing device according to any one of claims 1 to 5, characterized in that: The auxiliary needle is provided with a coupling block, the main needle is provided with a coupling groove matching the coupling block, the auxiliary needle is provided with a suture connecting groove, the first end of the suture is inserted into the suture connecting groove and fixed to the auxiliary needle.

7. An endoscopic suturing device according to claim 5, characterized in that: The second control assembly includes a second control seat and a control button, the control button is movably connected to the second control seat, the second end of the second control wire is connected to the control button, and a second return spring is further arranged between the control button and the second control seat.

8. An endoscopic suturing device according to claim 1, characterized in that: The lifting and cutting wire assembly includes a lifting and cutting wire seat and a lifting anchor. The lifting anchor is spirally arranged as a whole. A spike portion is arranged at the first end of the lifting anchor. The second end of the lifting anchor is connected to the first end of the third control wire.

9. An endoscopic suturing device according to claim 8, characterized in that: The third control assembly includes a third control seat and a control knob, the control knob is movably connected to the third control seat, the second end of the third control wire is connected to the control knob, and a third return spring is also arranged between the control knob and the third control seat.

10. An endoscopic suturing device according to claim 8, characterized in that: The lifting and cutting thread seat is provided with a blade, and the blade is used to cut the suture thread, so that the suture thread after suturing is completed is cut off and retained at the wound position.

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