Needle assembly method and needle assembly system

Abstract

This application relates to a needle and thread assembly method and system. The method includes: a first processing mechanism for a thread clamping assembly solidifies a portion of the thread clamping assembly suture at a first position, creating a hardened portion on the suture; the first processing mechanism moves away from a second processing mechanism to a second position to expose the hardened portion; the second processing mechanism moves to the hardened portion and clamps the end of the hardened portion near the first processing mechanism; the second processing mechanism breaks the hardened portion into a tail end and a head end, clamping the head end of the suture; the second processing mechanism moves with the head end of the suture and inserts it into a suture needle, pressing the needle to engage the head end of the suture. This application can improve the production efficiency of suture needles with thread.

Description

Technical Field

[0001] This application relates to the technical field of suture needles with thread, and in particular to a needle and thread assembly method and a needle and thread assembly system. Background Technology

[0002] Currently, there are two common types of suture needles used in medical practice: The first type resembles a regular sewing needle, with a small hole at the rear end through which the medical suture passes and connects to the needle. A disadvantage of this type is the noticeable suture protrusion at the connection point, which can easily damage the patient's tissues during surgery. The second type is an improvement on the first. Its structure includes a groove at the rear end of the needle. The suture is placed in this groove and then pressed together using a punch press. While this type is an improvement, its production process involves manually cutting the suture to the desired length, hardening both ends, inserting the suture head into the groove at the rear end of the needle, and then pressing the groove together to secure the suture to the needle, thus creating the second type of suture needle. In summary, the production of this type of suture needle still suffers from problems such as the need for manual threading, high scrap rate, and low production efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide a needle and thread assembly method and system that can improve production efficiency.

[0004] A needle and thread assembly method for attaching a suture thread to a suture needle, wherein the suture thread passes through a thread supply mechanism, a first processing mechanism, and is disposed on a second processing mechanism, and the suture needle is mounted on a clamping assembly; the needle and thread assembly method includes:

[0005] The first processing mechanism solidifies a portion of the suture at a first position, thereby giving the suture a hardened portion.

[0006] The first processing mechanism moves to a second position away from the second processing mechanism to expose the hardened portion;

[0007] The second processing mechanism moves to the hardened part and clamps the hardened part near the end of the first processing mechanism;

[0008] The second processing mechanism breaks the hardened part into the tail end of one suture and the head end of another suture, at which point the second processing mechanism clamps the head end of the suture;

[0009] The second processing mechanism moves the first end of the suture a preset distance and inserts it into the suture needle;

[0010] Press the suture needle together to engage the beginning of the suture.

[0011] In one embodiment, after pressing the suture needle to engage the tip of the suture, the needle-suture assembly method further includes: detecting whether the fixing strength between the tip and the suture needle meets the standard; if it does, the measurement is stopped; if it does not, the tip is detected as unusable; if the tip is unusable, the hardened portion located on the suture is cut to generate a new tip, and the new tip is re-clamped in the second processing mechanism; if the tip is not unusable, the tip is re-clamped in the second processing mechanism.

[0012] In one embodiment, the method for detecting whether the fixation strength between the head end and the suture needle meets the standard is as follows: detect whether the tension on the suture line reaches a preset tension value. If the preset tension value is reached, it indicates that the fixation strength between the head end and the suture needle meets the standard; if the preset tension value is not reached, it indicates that the fixation strength between the head end and the suture needle does not meet the standard.

[0013] In one embodiment, the method for detecting whether the tension on the suture reaches a preset tension value is as follows: the force measuring component of the first processing mechanism clamps the suture and pulls the suture away from the suture needle to detect the tension on the suture.

[0014] In one embodiment, the needle and thread assembly method further includes the detection component of the second processing mechanism detecting in real time whether the suture is at the target height; if so, no further processing is performed; if not, a reminder is issued.

[0015] In one embodiment, the second processing mechanism disconnects the hardened portion into the tail end of one suture and the head end of another suture by: the lifting component of the second processing mechanism moving the suture-cutting component from the initial position to the suture-cutting position along the second direction; the suture-cutting component cutting the hardened portion; and the lifting component restoring the suture-cutting component from the suture-cutting position back to the initial position.

[0016] In one embodiment, after the second processing mechanism breaks the hardened part into the tail end of one suture and the head end of another suture, the needle and thread assembly method further includes: the clamping assembly releasing the clamping action on the suture needle, and the robotic arm moving the grippable suture needle to the clamping assembly.

[0017] In one embodiment, before the robotic arm moves the gripperable suture needle to the clamping assembly, the needle assembly method further includes: a vision mechanism identifying whether the gripperable suture needle is present in the needle box using a pre-built detection model; if the gripperable suture needle is present, the robotic arm moves the gripperable suture needle to the clamping assembly; if the gripperable suture needle is not present, the needle box is vibrated and identification is performed again.

[0018] In one embodiment, the vision mechanism identifies whether the needle box contains the grippable suture needle by means of a pre-built detection model: the detection model stores the calibration orientation, gripping point, and target pose of the grippable suture needle; the tail axis of the suture needle in the calibration orientation is the same as the axis of the suture line, and the opening of the tail faces the suture line; the gripping point is located at the tail of the suture needle; the pose of the suture needle in the calibration orientation when it is gripped by the clamping assembly is the target pose; the vision mechanism identifies the suture needle whose pose is closest to the calibration orientation as the grippable suture needle; the robotic arm grips the grippable suture needle and adjusts the grippable suture needle to the target pose.

[0019] This application also provides a needle and thread assembly system for implementing the needle and thread assembly method as described in any of the preceding embodiments, the needle and thread assembly system comprising:

[0020] A thread supply mechanism for supplying the suture thread;

[0021] A first processing mechanism is capable of reciprocating motion along a first direction. The first processing mechanism includes a curing component for curing a portion of the suture.

[0022] The second processing mechanism is capable of reciprocating along the first direction. The second processing mechanism includes a thread clamping assembly and a thread cutting assembly. The thread cutting assembly is used to disconnect the suture thread, and the thread clamping assembly is used to clamp and drive the suture thread to move a preset distance away from the first processing mechanism.

[0023] Clamping assembly for holding the suture needle;

[0024] The clamping assembly, the second processing mechanism, and the first processing mechanism are arranged sequentially at intervals along a first direction.

[0025] Compared with existing technologies, the needle and thread assembly method provided in this application eliminates the need for pre-cutting of the suture before inserting the suture head into the suture needle. Furthermore, the second processing mechanism moves the suture head along with the suture head and inserts it into the grooved tail of the suture needle. Simultaneously, while the suture needle has joined the suture head, the first processing mechanism can solidify a portion of the suture at a first position, significantly improving production efficiency. Moreover, by pre-setting a predetermined distance for the second processing mechanism to move the suture away from the first processing mechanism—this predetermined distance being the length of the suture in each needle-carrying suture—the length of the suture in each needle-carrying suture is adjusted, making the suture length in each needle-carrying suture adjustable. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart of a needle and thread assembly method according to an embodiment of this application;

[0028] Figure 2 This is a schematic diagram showing the orientation of the suture needle in one embodiment of this application;

[0029] Figure 3 This is a schematic diagram of a vision mechanism recognizing a gripper needle in one embodiment of this application;

[0030] Figure 4 This is a schematic diagram illustrating the adjustment of a gripperable suture needle to a target position in one embodiment of this application;

[0031] Figure 5 This is a top view of a needle and thread assembly system according to an embodiment of this application;

[0032] Figure 6 This is a side view of a needle and thread assembly system according to an embodiment of this application;

[0033] Figure 7 This is a perspective view of a needle and thread assembly system with sutures according to an embodiment of this application;

[0034] Figure 8 for Figure 7 A magnified view of a section at point A in the middle;

[0035] Figure 9 for Figure 7 A magnified view of a section at point B in the middle;

[0036] Figure 10This is a perspective view of a needle and thread assembly system according to an embodiment of this application;

[0037] Figure 11 This is a perspective view of a needle and thread assembly system according to an embodiment of this application from another angle;

[0038] Figure 12 for Figure 11 A magnified view of a portion of point A in the middle.

[0039] Reference numerals: 10, Thread feeding mechanism; 11, Thread; 12, Thread guide roller assembly; 13, Thread needle; 20, First processing mechanism; 21, Curing component; 22, Thread guide port; 23, First base; 24, Force measuring component; 30, Second processing mechanism; 31, Thread clamping component; 32, Thread cutting component; 33, Second base; 34, Lifting component; 35, Limiting component; 36, Detection component; 40, Workbench; 41, Slide rail; 50, Material box. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "above" and "below" for "first feature" and "second feature" can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" for "first feature" and "second feature" can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" for "first feature" and "second feature" can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0044] Please see Figures 1 to 2 This application provides a method for assembling a suture needle with thread. This method involves connecting a section of suture 11 to a slot at the tail end of a suture needle 13 (i.e., a slot located at the rear end of the suture needle 13). The suture 11 passes through a thread supply mechanism 10, a first processing mechanism 20, and is arranged on a second processing mechanism 30. The suture needle 13 is mounted on a clamping assembly. The axial direction of the portion of the suture 11 located between the first processing mechanism 20 and the second processing mechanism 30 is defined as a first direction A. It is understood that the first direction A here refers to a bidirectional direction. Figure 1 As shown, the needle and thread assembly method includes:

[0045] S100: The curing component 21 of the first processing mechanism 20 cures a portion of the suture 11 at a first position, giving the suture 11 a hardened portion. Specifically, in the suture assembly system with a suture needle, the suture 11 passes through the suture port 22 of the curing component 21 of the first processing mechanism 20 from the suture supply mechanism 10. The curing component 21 generates heat and transfers the heat to the suture port 22 to heat the suture 11 inside the suture port 22, causing the suture 11 to harden and form a hardened portion of a certain length.

[0046] The curing component 21 of the first processing mechanism 20 has an operating state and an off state. When the suture 11 needs to be heated and cured, the curing component 21 is opened, i.e., in the operating state. When the suture 11 does not need to be heated and cured, the curing component 21 is closed, i.e., in the off state. By adjusting the opening time T of the curing component 21 and the movement speed V of the suture 11 in the curing component 21 (i.e., the speed at which the suture 11 passes through the curing component 21), the length H of the hardened part heated and cured by the curing component 21 is H = T * V, thereby obtaining hardened parts of different lengths. It should also be noted that at this time, one end of the suture 11 is provided by the suture supply mechanism 10, and the other end is clamped by the clamping component of the second processing mechanism 30 or pressed into the groove at the tail of the suture needle 13 to maintain the tension between the sutures 11.

[0047] S200: The first processing mechanism 20 moves to a second position away from the second processing mechanism 30 to expose the hardened portion. Specifically, at this time, the curing component 21 of the first processing mechanism 20 is in a closed state. Furthermore, the first processing mechanism 20 moves to the second position along the first direction A away from the second processing mechanism 30; that is, the line connecting the first and second positions is in the same axial direction as the suture line 11.

[0048] S300: The second processing mechanism 30 moves to the hardened portion, and the wire clamping assembly 31 of the second processing mechanism 30 clamps the end of the hardened portion near the first processing mechanism 20. Similarly, the wire clamping assembly 31 of the second processing mechanism 30 can also clamp the non-cured portion near the hardened portion (the end near the first processing mechanism 20).

[0049] Specifically, the second processing mechanism 30 moves to the hardened part, that is, to the first position in step S100. At this time, the first processing mechanism 20 is located in the second position.

[0050] S400: The thread-cutting assembly 32 of the second processing mechanism 30 breaks the hardened portion into the tail end of one suture 11 and the head end of another suture 11. At this time, the thread-clamping assembly 31 of the second processing mechanism 30 clamps the head end of the suture 11. It should be noted that the thread-cutting assembly 32 of the second processing mechanism 30 breaks the hardened portion into the tail end of one suture 11 and the head end of another suture 11. This can be understood as follows: for each suture needle, each suture 11 has a head end and a tail end with a partially hardened portion. The head end with the hardened portion can be inserted more easily into the tail slot of the suture needle 13, and the tail end with the hardened portion can prevent the suture 11 from unraveling. Therefore, when the thread-cutting assembly 32 breaks the hardened portion, it needs to act at the middle position of the hardened portion of the suture 11 so that both the tail end of one suture 11 and the head end of the other suture 11 have a partially hardened portion. 。

[0051] S500: The suture clamping assembly 31 of the second processing mechanism 30 moves the first end of the suture 11 a preset distance and inserts it into the groove at the tail of the suture needle 13. It should be noted that when the suture clamping assembly 31 of the second processing mechanism 30 moves the first end of the suture 11 a preset distance, the preset distance is slightly greater than the length of the suture 11 required in the suture needle. During this process, the suture supply mechanism 10 maintains a constant tension on the suture 11, which can prevent the suture 11 from being too loose, causing the actual length of the suture 11 to be greater than the preset length, and can also prevent the suture 11 from being too tight, causing it to break or be damaged. Thus, the preset distance moved by the suture clamping assembly 31 of the second processing mechanism 30 is consistent with the length of the pulled suture 11.

[0052] S600: The groove at the tail of the suture needle 13 is pressed together so that the groove at the tail of the suture needle 13 engages with the beginning end of the suture 11. It is understood that the above steps are performed cyclically; after completing step S600, the process returns to step S100, allowing the needle-and-suture assembly method to continue operating and further improving the production efficiency of the needle-and-suture 11. Furthermore, multiple steps in this example can be performed simultaneously; for example, steps S600 and S100 can be performed simultaneously, as can steps S200 and S300. This optimizes the needle-and-suture assembly method and improves production efficiency.

[0053] The needle and thread assembly method of the suture needle provided in this embodiment does not require pre-cutting of the suture 11 before inserting the first end of the suture 11 into the suture needle 13. At the same time as the second processing mechanism 30 moves the first end of the suture 11 and inserts it into the suture needle 13 or presses the suture needle 13 and the first end of the suture 11 together, the first processing mechanism 20 can solidify part of the suture 11 at the first position, which greatly improves production efficiency.

[0054] In this embodiment, the second processing mechanism 30 is pre-set to move the suture 11 a predetermined distance away from the first processing mechanism 20. This predetermined distance is the length of the suture 11 in each needle-carrying suture 11, thus adjusting the length of the suture 11 in each needle-carrying suture 11, making the length of the suture 11 in each needle-carrying suture 11 adjustable. It should also be noted that when producing the first needle-carrying suture 11, the suture 11 is manually threaded into the suture needle 13, and then the production of the first product begins from step S100. Alternatively, with manual assistance, a hardened end is first created on the suture 11, and this end is clamped onto the suture clamping assembly 31 of the second processing mechanism 30. At this time, the second processing mechanism 30 is in the first position mentioned above, and then the production of the first product begins from step S500.

[0055] In one embodiment, after step S600: pressing the ends of the suture needle 13 and the suture 11 together, the needle and thread assembly method further includes: S700: detecting whether the fixing strength between the end of the suture 11 and the groove at the tail of the suture needle 13 meets the standard; if it meets the standard, the measurement is stopped; if it does not meet the standard, the end is detected as unusable; if the end is unusable, the hardened portion on the suture 11 is cut to generate a new end, and the new end is re-clamped in the second processing mechanism 30; if the end is not unusable, the end is re-clamped in the second processing mechanism 30.

[0056] Understandably, if the fixation strength between the suture thread 11 and the suture needle 13 is not up to standard, meaning the suture thread 11 is prone to detaching from the groove at the tail of the suture needle 13, then the suture needle with the thread is a defective product. By testing whether the fixation strength between the suture thread 11 and the groove at the tail of the suture needle 13 meets the standard, the defect rate of the product can be reduced.

[0057] If the fixing strength between the beginning of the suture 11 and the groove at the end of the suture needle 13 is insufficient, the suture 11 will detach from the groove at the end of the suture needle 13. In this case, manual intervention is required to determine whether the beginning of the suture 11 is now unusable. It is understood that in step S600, the groove at the end of the suture needle 13 has been pressed shut and cannot be reused; therefore, the suture needle 13 is discarded.

[0058] In one embodiment, the method for detecting whether the fixing strength between the suture thread 11 and the suture needle 13 meets the standard is as follows: The tension on the suture thread 11 is checked to see if it reaches a preset tension value. If the preset tension value is reached, it indicates that the fixing strength between the suture thread 11 and the suture needle 13 meets the standard; if the preset tension value is not reached, it indicates that the fixing strength between the suture thread 11 and the suture needle 13 does not meet the standard. It is understood that the suture thread 11 is always under constant tension. Detecting the tension on the suture thread 11 to check whether the fixing strength between the suture thread 11 and the suture needle 13 meets the standard eliminates the need for extensive processing of the suture thread 11 and the suture needle 13, making the detection method simple and efficient. Furthermore, the preset tension value can be selected according to the model and specifications of the suture thread and the suture needle, thus improving the universality of the needle and thread assembly method in this embodiment.

[0059] In one embodiment, the method for detecting whether the tension on the suture 11 reaches a preset tension value is as follows: the force measuring component 24 of the first processing mechanism 20 clamps the suture 11 and pulls the suture 11 taut away from the suture needle 13 to detect the tension on the suture 11. Thus, after slotting the tail of the suture needle 13, that is, after attaching the head end of the suture 11 to the suture needle 13, the tension on the suture 11 can be measured immediately without excessive mechanical movement, thereby improving the efficiency of needle and thread assembly.

[0060] Understandably, at this point, the beginning of the suture 11 is pressed into the groove at the end of the suture needle 13 (the groove at the end of the suture needle 13 has been deformed by the pressing), meaning that the suture needle 13 clamps the beginning of the suture 11, and the suture clamping assembly 31 of the second processing mechanism 30 does not clamp the suture 11. After the force measuring assembly 24 clamps the suture 11, the suture located between the suture needle 13 and the force measuring assembly 24 is not subject to other external forces. This avoids other external forces interfering with the tension on the suture 11, thereby improving the accuracy of the force measuring assembly 24 in measuring the tension value on the suture 11.

[0061] It is also understood that in this embodiment, the tension value on the suture 11 is detected by pulling the suture 11 in a direction away from the suture needle 13, thereby detecting whether the fixing strength between the beginning of the suture 11 and the suture needle 13 meets the standard. Specifically, if the fixing strength between the beginning of the suture 11 and the suture needle 13 meets the standard, when the force measuring component 24 of the first processing mechanism 20 clamps the suture 11 and pulls the suture 11 in a direction away from the suture needle 13, the beginning of the suture 11 will not fall out of the groove at the tail of the suture needle 13. At this time, the force measuring component 24 of the first processing mechanism 20 only provides the suture 11 with a tendency to move away from the suture needle 13, and will not produce obvious displacement. However, if the fixing strength between the beginning of the suture 11 and the suture needle 13 is not up to standard, when the force measuring component 24 of the first processing mechanism 20 clamps the suture 11 and pulls the suture 11 away from the suture needle 13, the beginning of the suture 11 will fall out of the groove at the tail of the suture needle 13. At this time, since there is no tension between the suture 11 and the suture needle 13, the force measuring component 24 of the first processing mechanism 20 will drive the suture 11 to move away from the suture needle 13 along the first direction A and generate displacement.

[0062] Furthermore, multiple steps in this example can be performed simultaneously. For example, steps S600 and S100 can be performed simultaneously, as can steps S200 and S300. That is, after step S700 (detecting whether the tension on the suture 11 reaches the preset tension value), steps S200 and S300 (the second processing mechanism 30 moves to the hardened part of the suture 11) can proceed directly. In actual production, it is rare for the tension on the suture 11 to fall short of the preset tension value; it almost always reaches the preset tension value. Therefore, using the force measuring component 24 installed on the first processing mechanism 20 to measure the tension value on the suture 11 will not interfere with the subsequent disconnection of the suture 11 by the second processing mechanism 30. In other words, after measuring that the tension on the suture 11 reaches the preset tension value, steps S300 and S400 can proceed directly. In this way, the process in the needle and thread assembly method can be optimized, thereby improving the efficiency of needle and thread assembly.

[0063] In one embodiment, the needle and thread assembly method further includes the detection component 36 of the second processing mechanism 30 detecting in real time whether the suture 11 is at the target height. If it is, no further processing is performed; if not, a reminder is issued. It should be noted that the target height is the height at which the tip of the suture 11 can be inserted into the groove at the tail of the suture needle 13. When the suture 11 is at the target height, its tip can be accurately inserted into the groove at the tail of the suture needle 13, thereby improving the yield rate of the needle and thread assembly method.

[0064] Understandably, if the suture 11 is positioned too high or too low, it will affect the accuracy of inserting the first end of the suture 11 into the groove at the tail of the suture needle 13 in step S500. This will result in the suture needle 13 and the suture 11 not being fixed together or not being fixed tightly, generating waste and wasting production materials. When the suture 11 falls off the suture needle 13 or the suture clamping assembly 31 of the second processing mechanism 30, or when the suture 11 is positioned too high or too low, the detection assembly 36 will issue a warning and stop the working steps in the above-mentioned needle and thread assembly method. In this way, the yield rate of this needle and thread assembly method can be improved.

[0065] In one embodiment, step S400: the second processing mechanism disconnects the hardened portion into the tail end of one suture and the head end of another suture in the following manner:

[0066] S401: The lifting assembly 34 of the second processing mechanism 30 moves the thread-cutting assembly 32 from its initial position to the thread-cutting position along the second direction. Specifically, when the thread-cutting assembly 32 is in the thread-cutting position, the height of the suture 11 is within the trimming range of the thread-cutting assembly 32, thus ensuring that the blade on the thread-cutting assembly 32 can cut the hardened portion of the suture 11. The trimming range of the thread-cutting assembly 32 is the range between the top and bottom ends of the blade on the thread-cutting assembly 32. It should also be noted that the second direction intersects the first direction, so that when the thread-cutting assembly 32 is in its initial position, it will not interfere with the movement of the suture 11.

[0067] S402: The wire cutting assembly cuts off the hardened part.

[0068] S403: The lifting assembly restores the suture-cutting assembly from the suture-cutting position to the initial position along the second direction. Specifically, when the suture-cutting assembly 32 is in the initial position, the height of the suture 11 is higher than the top of the suture-cutting assembly 32, thus preventing the suture-cutting assembly 32 from interfering with the movement of the suture 11.

[0069] In one embodiment, after the second processing mechanism 30 breaks the hardened part into the tail end of one suture 11 and the head end of another suture 11, the needle and thread assembly method can also automatically replace the suture needle 13 on the clamp assembly. The needle and thread assembly method further includes:

[0070] Step S410: The clamping assembly releases its gripping effect on the suture needle 13. It can be understood that at this time, the suture needle 13 is already a suture needle with thread because the suture thread 11 is connected to its slotted tail. After the clamping assembly releases its gripping effect on the suture needle with thread, the suture needle with thread falls into the material box 50 used to store the suture needle with thread.

[0071] Step S420: The robotic arm moves the gripperable suture needle 13 to the clamping assembly. This allows for automatic replacement of the suture needle 13 on the clamping assembly, further improving production efficiency. It should also be noted that because the suture needle 13 has a certain curvature, and the beginning of the suture 11 is inserted into its slot from the tail end of the suture needle 13, the robotic arm needs to precisely position the suture needle 13 when moving it onto the clamping assembly to ensure that the opening of the slot at the tail end of the suture needle 13 is coaxial with the suture 11, thus facilitating the insertion of the beginning end of the suture needle 13 into the slot at the tail end.

[0072] In one embodiment, step S420: the robotic arm moves the gripperable suture needle 13 to in front of the clamping assembly, and the needle and thread assembly method further includes:

[0073] The vision mechanism identifies whether there is a grippable suture needle 13 in the needle box using a pre-built detection model; if there is a grippable suture needle 13, the robotic arm moves the grippable suture needle 13 to the clamping assembly; if there is no grippable suture needle 13, the needle box is vibrated and the identification is performed again.

[0074] Specifically, the vision mechanism includes a camera and a computing unit. The camera can be triggered to take pictures of the needle box and the suture needle 13 inside the needle box. The camera can also interact with the computing unit to enable the vision mechanism to identify the suture needle 13 that can be gripped.

[0075] Specifically, the detection model adopts the Faster R-CNN model architecture, which is pre-built through machine learning. The construction method is as follows:

[0076] I. Data Preparation

[0077] 1. Data Collection

[0078] Numerous images of the suture needles 13 within the needle box in various states were captured using a camera in the vision unit, including both overlapping and non-overlapping configurations. The images must be clear, well-lit, and clearly show the features of the suture needles 13. The collected images were then stored in a folder.

[0079] 2. Data labeling

[0080] The collected images were annotated using a professional annotation tool called LabelImg. The annotations included the positions of the beginning and end of the suture needle 13 and whether the suture needle 13 was removable.

[0081] For each collected image, a bounding box is drawn to mark the position of the suture needle 13, and the beginning and end points of the suture needle 13 are labeled within the bounding box. Additionally, an attribute is added to indicate whether the suture needle 13 is grippable.

[0082] Save the labeled dataset as an XML file.

[0083] 3. Data partitioning

[0084] The labeled dataset is divided into a training set for training the model, a validation set for tuning model hyperparameters and preventing overfitting, and a test set for evaluating the final performance of the model.

[0085] The training set : validation set : test set = 70% : 15% : 15%.

[0086] 4. Data Augmentation

[0087] Data augmentation can be performed on the training set to increase its size and diversity. The following methods can be used for data augmentation:

[0088] (1) Rotation: Randomly rotate the images in the training set, with the rotation angle ranging from -30° to 30°.

[0089] (2) Flip: Randomly flip the image horizontally or vertically.

[0090] (3) Scaling: Randomly scale the image, with the scaling ratio ranging from 0.8 to 1.2.

[0091] (4) Translation: Randomly translate the image, with a translation range of 10% of the image width and height.

[0092] (5) Adjust brightness and contrast: Randomly adjust the brightness and contrast of the image, with an adjustment range of 0.5 to 1.5.

[0093] II. Training Model

[0094] 1. Model Modification

[0095] The Faster R-CNN model was modified into a detection model. This detection model can detect the category of suture needle 13 (graspable or non-graspable) and can also locate the positions of the beginning and end of suture needle 13. The modification method is as follows:

[0096] Replace the classifier of the Faster R-CNN model with a new fully connected layer. The number of input features is the number of output features of the model's feature extractor. The number of output features is 2 (the category of stitch 13) + 4 (the positions of the beginning and end).

[0097] 2. Define the loss function

[0098] The loss function measures the difference between the model's predictions and the true labels. The following loss function can be used:

[0099] (1) Classification loss L cls : Used to measure the difference between the predicted class of suture needle 13 and the true class. Classification loss L cls The expression is as follows:

[0100]

[0101] Where N is the number of samples, y i For real category labels, To predict class probabilities.

[0102] (2) Regression loss L reg : Used to measure the difference between the predicted and actual positions of the beginning and end points of the suture needle 13. Regression loss L reg The expression is as follows:

[0103]

[0104] Where y represents the actual position coordinates of the beginning and end points of the suture needle 13. The predicted coordinates of the positions at both ends of suture needle 13.

[0105] (3) Total loss function L total The total loss function is typically a weighted sum of classification loss and regression loss. The total loss function L... total The expression is as follows:

[0106] L total =L cls +nL reg (Equation 3)

[0107] Among them, L cls It is classification loss, L reg This is the regression loss. 'n' is the weighting coefficient, which balances the impact of classification and regression losses on the total loss function. In this training, the weighting coefficient 'n' is adjusted between 1 and 15.

[0108] 3. Training process:

[0109] Step 1: Load the data in the training set using PyTorch.

[0110] Step 2: (1) Forward propagation: Input the data-augmented training set into the model;

[0111] (2) The feature extraction network of the detection model extracts features from the input image and generates a feature map.

[0112] (3) The Region Proposal Network (RPN) (RPN is a key component of the Faster R-CNN model, and the detection model in this embodiment retains the RPN part) generates multiple candidate regions (candidate boxes) on the feature map, which may contain the target suture needle 13.

[0113] (4) Perform region of interest pooling (RoIPooling) on ​​each candidate region to pool its feature map into a feature vector of fixed size.

[0114] (5) The fully connected layer in the detection model performs classification and regression on the pooled feature vectors:

[0115] I. Classification: Predict the category (gripable or non-gripable) of suture needle 13 in each candidate region, using the cross-entropy loss function to measure the difference between the predicted category and the true category.

[0116] II. Regression: Predict the positions of the beginning and end of the suture needle 13 in each candidate region, and use the smoothed L1 loss function to measure the difference between the predicted and actual positions.

[0117] (6) The detection model outputs the type of suture needle 13 and the positions of its two ends.

[0118] Step 3: Calculate the loss. Based on the prediction results of the detection model (including predicted category and predicted location) and the ground truth labels, calculate the classification loss (Equation 1) and regression loss (Equation 2), and combine them into the total loss (Equation 3).

[0119] Step 4: Backpropagation is performed to calculate the gradient of the loss function and update the parameters of the detection model using the optimizer (the optimizer is a component of the Faster R-CNN model; the detection model in this embodiment retains the optimizer). The optimization method is as follows:

[0120] (1) Before each backpropagation, initialize the gradient of the model parameters to zero to avoid gradient accumulation;

[0121] (2) Calculate the gradient of the total loss function with respect to the model parameters;

[0122] (3) Use the optimizer to update the model parameters based on the calculated gradient.

[0123] Step 5: Record logs and repeat training until the detection model converges or reaches the preset number of training cycles. The detection model at this point is the pre-built detection model in step S420.

[0124] After the detection model is trained, the vision mechanism uses the detection model to sort the suture needles 13. Specifically, after the camera takes a picture, the image is transmitted to the computing unit for preprocessing. The preprocessed image is then input into the detection model to obtain the model's prediction result. Based on the prediction result, the robotic arm is controlled to grasp the identified suture needles 13.

[0125] In one embodiment, step S420: the vision mechanism identifies whether there is a removable suture needle 13 in the needle box using a pre-built detection model as follows: (See [reference]) Figure 2 and Figure 3 The detection model stores the calibration orientation, gripping point, and target pose of the grippable suture needle 13. The tail axis of the suture needle 13 in the calibration orientation is the same as the axis of the suture 11, and the opening of the tail faces the suture 11. The gripping point is located at the tail of the suture needle 13. The pose of the suture needle 13 in the calibration orientation when gripped by the clamping assembly is the target pose. The vision mechanism identifies the suture needle 13 whose pose is closest to the calibration orientation as the grippable suture needle 13. The robotic arm grips the grippable suture needle 13 and adjusts it to the target pose.

[0126] Understandably, since the suture needles 13 in the needle box are scattered and the heads and tails of the suture needles 13 are facing different directions, the robotic arm takes the fewest steps and consumes the least time to move the suture needle 13 with the calibrated orientation onto the clamping assembly. Therefore, setting the detection model to prioritize the suture needle 13 with the closest calibrated orientation as the suture needle 13 that can be clamped is beneficial to improving production efficiency.

[0127] For details, please refer to Figure 2 The outer frame marks the position of the gripper needle 13 marked by the vision mechanism. The origin of the XY plane rectangular coordinate system in the figure represents the gripping point of the robotic arm on the suture needle 13. This gripping point is determined by image recognition of the tail of the suture needle 13. The X-axis is the axial direction of the tail end of the suture needle 13, and a Y-axis perpendicular to the X-axis is drawn at the tail end. This origin (the intersection of the X-axis and Y-axis) is the gripping point. Schematic, the gripping point is set about 1.5 mm away from the head end of the tail end to stabilize the gripping stability of the robotic arm on the suture needle 13.

[0128] Figure 3 The image shown is a schematic diagram of multiple suture needles 13 inside the needle box. When the vision mechanism identifies whether there are any removable suture needles 13 inside the needle box, it will mark the category of each suture needle 13. The categories are removable (non-overlapping and face up, see reference). Figure 2 The suture needle 13 with its tail groove facing the suture line 11 is defined as the front side, and the suture needle 13 with its tail groove facing away from the suture line 11 is defined as the front side. Then, the suture needle 13 that is not grippable (overlapping or facing upwards) is defined as the non-gripable suture needle. After the vision mechanism identifies all grippable suture needles 13, it compares them and finds the suture needle 13 that is closest to the calibrated orientation. This suture needle 13 is the grippable suture needle 13 in step S420.

[0129] Understandably, the suture needle 13 closest to the calibrated orientation within the needle box is the graspable suture needle 13. This means that there may be a certain deviation between the actual pose of the graspable suture needle 13 identified by the vision mechanism and the target pose. When this deviation exists, the robotic arm needs to adjust the actual pose of the suture needle 13 to the target pose. Therefore, compared to using vibration of the needle box to make the actual pose of the suture needle 13 exactly the same as the target pose, the robotic arm's method of adjusting the actual pose of the suture needle 13 to the target pose is more efficient due to the higher randomness and uncertainty of the needle box vibration in adjusting the pose of the suture needle 13.

[0130] It should also be noted that, see reference Figure 2 Since the suture needle 13 represents the suture needle 13 in the target pose, the XY plane rectangular coordinate system established for the suture needle 13 is the initial calibration preset coordinate system. When the robotic arm adjusts the actual pose of the suture needle 13 to the target pose, it will adjust the direction of the XY plane rectangular coordinate system of the suture needle 13 to be the same as the direction of the initial calibration preset coordinate system.

[0131] Indicatively, after the vision mechanism selects the grippable suture needle 13, as shown... Figure 3 The suture needle 13 within the Chinese box is marked as a grippable suture needle 13. The vision mechanism identifies the features of both ends of the suture needle 13 and establishes a true Cartesian coordinate system, i.e., an X'Y' Cartesian coordinate system, at the end of the suture needle 13. By comparing the newly established true Cartesian coordinate system with the initial calibration preset coordinate system, i.e., refer to... Figure 4 The angle θ between the Y-axis and Y'-axis can be used to calculate the angle by which the suture needle 13 needs to be rotated. It can also be understood that when the actual pose of the suture needle 13 is the same as the target pose, there is no need to rotate the suture needle 13.

[0132] It should also be noted that, in addition to determining whether there is a suture needle 13 that can be gripped based on the calibrated orientation, gripping point and target pose of the suture needle 13, the vision mechanism also identifies whether there is a suture needle 13 that can be gripped by judging whether the suture needles 13 in the needle box are stacked (meaning that the suture needle 13 is not close to other suture needles 13 or is stacked and intertwined). The suture needle 13 that can be gripped does not stack with other suture needles 13.

[0133] It should also be noted that the needle box in this embodiment is connected to a power unit. The power unit vibrates the needle box according to the instructions of the host computer, causing the suture needles 13 inside the needle box to jump, thereby scattering the suture needles 13 and laying them flat inside the needle box. If no suture needle 13 is detected, the power unit will drive the needle box to vibrate again until a suture needle 13 is available to be grasped.

[0134] In addition, this embodiment also includes: according to the production process, the hopper for supplying suture needles 13 will put suture needles 13 into the needle box at irregular intervals according to the instructions of the host computer, so that there are multiple suture needles 13 in the needle box at the same time, so as to avoid the situation where there are no suture needles 13 in the needle box.

[0135] In one embodiment, step S420: the robotic arm moves the gripper needle 13 to the clamping assembly includes: the robotic arm rotates the gripper needle 13 from the target pose to a vertical state in which the head of the gripper needle 13 is below the tail, and then moves the needle 13 to the clamping assembly.

[0136] It is understandable that the suture needle 13 in the needle box is in a flat position (i.e., the plane on which the suture needle 13 is located is horizontal). The first action of the robotic arm moving the suture needle 13 onto the clamping assembly is: the robotic arm clamps the suture needle 13 at the clamping point at the tail end and lifts the suture needle 13 from the needle box. At this time, the robotic arm only moves the suture needle 13 in the vertical direction to change its position; that is, the plane on which the suture needle 13 is located remains horizontal. The second action of the robotic arm moving the suture needle 13 onto the clamping assembly is: rotating the suture needle 13 by θ degrees so that the actual pose of the suture needle 13 matches the target pose. It is understandable that when the actual pose of the suture needle 13 is the same as the target pose, this action can be omitted, and the next action can be executed directly. The third action of the robotic arm moving the suture needle 13 onto the clamping assembly is: rotating the suture needle 13 from the target pose state to a vertical state where the head of the suture needle 13 is below the tail end. At this point, the plane containing the XY plane rectangular coordinate system at the tail of the suture needle 13 is a vertical plane, which facilitates the insertion of the suture thread 11 into the suture needle 13 through the slot at its tail. It should be noted that the above-described decomposed actions are for clearly describing the process of the robotic arm moving the suture needle 13 onto the fixture assembly. In actual production, this process can be a continuous action or divided into multiple sub-actions.

[0137] See Figures 5 to 12 This application also provides a needle and thread assembly system with a suture needle to implement the needle and thread assembly method as described in any of the preceding embodiments. The needle and thread assembly system includes:

[0138] Thread supply mechanism 10 is used to supply suture thread 11;

[0139] The first processing mechanism 20 is capable of reciprocating along the first direction A. The first processing mechanism 20 includes a curing component 21, which is used to cure part of the suture 11.

[0140] The second processing mechanism 30 is capable of reciprocating along the first direction A. The second processing mechanism 30 includes a thread clamping assembly 31 and a thread cutting assembly 32. The thread cutting assembly 32 is used to disconnect the suture 11, and the thread clamping assembly 31 is used to clamp and drive the suture 11 to move a preset distance away from the first processing mechanism 20.

[0141] Clamping assembly for holding suture needle 13;

[0142] The clamp assembly, the second processing mechanism 30 and the first processing mechanism 20 are arranged sequentially at intervals along the first direction A, and the axial direction of the portion of the suture 11 located between the clamp assembly and the first processing mechanism 20 is the same as that of the first direction A.

[0143] It is understood that when using the needle and thread assembly system provided in this embodiment to produce needle-loaded sutures 11, it is not necessary to pre-cur and cut the sutures 11 before connecting them to the suture needle 13. This needle and thread assembly system can cure part of the sutures 11 while threading them onto the suture needle 13, greatly improving production efficiency. Furthermore, by pre-setting the second processing mechanism 30 to move the sutures 11 a preset distance away from the first processing mechanism 20, this preset distance is the length of the sutures 11 in each needle-loaded suture 11, which means the length of the sutures 11 in the needle-loaded suture 11 is adjusted.

[0144] It should also be noted that the suture feeding mechanism 10 can use a servo tensioner, which can provide constant tension to the suture 11 when the beginning of the suture 11 is clamped.

[0145] Further, see Figure 6 and Figure 7 The needle and thread assembly system also includes a thread guide assembly 12. Along the direction of movement of the suture thread from the thread supply mechanism 10 to the first processing mechanism 20, the thread guide assembly 12 is located downstream of the thread supply mechanism 10 and upstream of the first processing mechanism 20. That is, the suture thread 11 travels from the thread supply mechanism 10 through the thread guide assembly 12 to reach the first processing mechanism 20. The thread guide assembly 12 is used to change the height and / or direction of a portion of the suture thread 11 located between the thread supply mechanism 10 and the first processing mechanism 20, so that the position of the thread supply mechanism 10 is not limited by the site / factory / workshop and can be arranged arbitrarily, improving the versatility of the system.

[0146] Understandably, the thread guide assembly 12 includes at least two thread guides to improve the versatility of the needle and thread assembly device. (Illustrative example, such as...) Figure 2As shown, the guide roller group 12 in this embodiment includes three guide rollers. In other embodiments, other numbers of guide rollers may also be used.

[0147] In one embodiment, see Figure 6 and Figure 8 The first processing mechanism 20 includes a first base 23 and a first driving member for driving the first base 23 to reciprocate along the first direction A. The curing component 21 is disposed on the first base 23. The curing component 21 has a thread passage 22 extending along the first direction A. The curing component 21 can generate heat and transfer the heat to the thread passage 22. In this way, the curing component 21 can heat the suture 11 inside the thread passage 22, so that the suture 11 is hardened to form a hardened part of a certain length.

[0148] In one embodiment, see Figure 7 , Figure 8 and Figure 10 The first processing mechanism 20 also includes a force measuring component 24 disposed on the first base 23. The force measuring component 24 can clamp the suture 11 and move away from the clamping component under the drive of the first base 23 to detect the tension on the suture 11. By detecting whether the tension on the suture 11 reaches a preset tension value, if the preset tension value is reached, it indicates that the fixation strength between the tip and the suture needle 13 meets the standard; if the preset tension value is not reached, it indicates that the fixation strength between the tip and the suture needle 13 does not meet the standard.

[0149] Furthermore, the method for detecting whether the tension on the suture 11 reaches the preset tension value is as follows: the force measuring component 24 of the first processing mechanism 20 clamps the suture 11 and tightens the suture 11 to detect the tension on the suture 11. Specifically, the force measuring component 24 of the first processing mechanism 20 clamps the suture 11 and drives the suture 11 to move away from the clamping component along the first direction A, or the force measuring component 24 of the first processing mechanism 20 provides the suture 11 with a tendency to move away from the clamping component. In short, as long as the force measuring component 24 of the first processing mechanism 20 can tighten the suture 11, it is acceptable.

[0150] In one embodiment, see Figure 8 The force measuring component 24 is located on the side of the curing component 21 away from the second processing mechanism 30. Thus, when the first processing mechanism 20 needs to move from the first position in step S100 to the second position in step S200 to expose the hardened portion, since the force measuring component 24 is located on the side of the curing component 21 away from the second processing mechanism 30, it does not occupy the moving distance of the first processing mechanism 20. Therefore, the moving distance of the first processing mechanism 20 is smaller, which is beneficial to improving production efficiency.

[0151] In one embodiment, see Figure 7 , Figure 9 , Figure 11 and Figure 12 The second processing mechanism 30 includes a second base 33 and a second driving member for driving the second base 33 to reciprocate along a first direction A. Both the wire clamping assembly 31 and the wire cutting assembly 32 are disposed on the second base 33, so that when the second base 33 moves along the first direction A, the wire clamping assembly 31 and the wire cutting assembly 32 can maintain synchronous movement. Furthermore, the wire clamping assembly 31 and the wire cutting assembly 32 are arranged along the first direction A, with the wire clamping assembly 31 located on the side of the wire cutting assembly 32 closer to the first processing mechanism 20. Thus, when the wire clamping assembly 31 clamps the hardened portion near the end of the first processing mechanism 20, the wire cutting assembly 32 can cut the hardened portion from its middle position.

[0152] For illustrative purposes only, see below. Figure 5 The needle and thread assembly system also includes a worktable 40 and a slide rail 41 disposed on the worktable 40. The slide rail 41 is arranged along a first direction A. The first base 23 and the second base 33 are both disposed on the slide rail 41. This reduces the frictional force when the first base 23 and the second base 33 move, and also reduces the torque requirements and load on the first and second driving components. Schematic, both the first and second driving components are motors.

[0153] In one embodiment, see Figure 6 , Figure 9 and Figure 12 The first direction A is horizontal. The second processing mechanism 30 also includes a lifting component 34, which is vertically positioned between the second base 33 and the suture clamping component 31. The suture cutting component 32 is positioned beside the lifting component 34 along the first direction A and connected to it. The lifting component 34 drives the suture cutting component 32 to move up and down between the suture cutting position and the initial position. It is understood that in the height direction of the second processing mechanism 30, i.e., in the vertical direction B, the suture cutting component 32 can change its height relative to the suture clamping component 31 under the drive of the lifting component 34. When it is necessary to cut the hardened portion on the suture 11, the lifting component 34 drives the suture cutting component 32 to move upward from the initial position to the suture cutting position, so that the cutter on the suture cutting component 32 can cut the hardened portion on the suture 11. After trimming, the lifting component 34 drives the suture cutting component 32 to move downward from the suture cutting position back to the initial position, thereby preventing the suture cutting component 32 from interfering with the movement of the suture 11.

[0154] Furthermore, when the thread-cutting assembly 32 is in the thread-cutting position, the height of the suture 11 is within the trimming range of the thread-cutting assembly 32. This ensures that the blade on the thread-cutting assembly 32 can cut the hardened portion of the suture 11. When the thread-cutting assembly 32 is in the initial position, the height of the suture 11 is higher than the top of the thread-cutting assembly 32. This prevents the thread-cutting assembly 32 from interfering with the movement of the suture 11. Specifically, the trimming range of the thread-cutting assembly 32 is the range between the top and bottom of the blade on the thread-cutting assembly 32.

[0155] In one embodiment, see Figure 9 and Figure 12 The second processing mechanism 30 also includes a limiting component 35, which is disposed along a first direction A on the side of the suture clamping component 31 away from the first processing mechanism 20. The limiting component 35 has an opening extending along the first direction A, through which the suture 11 passes. In this way, the horizontal height and axial position of the tip of the suture 11 can be maintained, preventing the tip of the suture 11 from shifting when inserted into the groove at the tail of the suture needle 13, thereby improving the accuracy of inserting the tip of the suture 11 into the groove at the tail of the suture needle 13.

[0156] In one embodiment, see Figure 9 and Figure 12 The second processing mechanism 30 also includes a detection component 36, which is positioned beside the suture clamping component 31 along the first direction A. The detection component 36 is used to detect the vertical position of the suture 11. It is understood that if the suture 11 is positioned too high or too low, it will affect the accuracy of inserting the first end of the suture 11 into the groove at the tail of the suture needle 13 in step S500, resulting in the suture needle 13 and the suture 11 not being properly secured, leading to waste and production material waste. When the suture 11 falls off the suture needle 13 or the suture clamping component 31 of the second processing mechanism 30, or when the suture 11 is positioned too high or too low, the detection component 36 will issue a warning and stop the working steps in the above-mentioned needle and thread assembly method. This improves the yield rate of the suture 11 with needle.

[0157] In one embodiment, the needle and thread assembly system further includes a needle box, a robotic arm, and a vision mechanism, all disposed beside the clamping assembly. The needle box is used to hold suture needles 13, the vision mechanism is used to identify grippable suture needles 13 from the needle box, and the robotic arm is used to move the grippable suture needles 13 to the clamping assembly. This allows for automatic replacement of new suture needles 13, improving the automation level of the needle and thread assembly system.

[0158] It should be noted that the suture needle 13 in step S400 is already connected to the suture thread 11 because its tail has a groove. At this time, the suture needle 13 is already a suture needle with thread. After the clamping assembly releases its clamping effect on the suture needle with thread, the suture needle with thread falls into the material box 50 used to store the suture needle with thread.

[0159] The technical features of the embodiments described above can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The embodiments described above only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A method of assembling a needle and thread, characterized by, For attaching a suture to a suture needle, the suture passing through a suture feeding mechanism, a first processing mechanism, and being arranged on a second processing mechanism, the suture needle being disposed on a clamping assembly; The needle and thread assembly method includes: The first processing mechanism solidifies a portion of the suture at a first position, thereby giving the suture a hardened portion. The first processing mechanism moves to a second position away from the second processing mechanism to expose the hardened portion; The second processing mechanism moves to the hardened part and clamps the hardened part near the end of the first processing mechanism; The second processing mechanism breaks the hardened part into the tail end of one suture and the head end of another suture, at which point the second processing mechanism clamps the head end of the suture; The second processing mechanism moves the first end of the suture a preset distance and inserts it into the suture needle; Press the suture needle together to engage the beginning of the suture.

2. The needle assembly method of claim 1, wherein, After pressing the suture needle to engage the tip of the suture, the needle-suture assembly method further includes: The measurement is stopped if the fixation strength between the tip and the suture needle meets the standard; otherwise, the tip is discarded. If the head end is rejected, the hardened portion located on the suture line is cut to generate a new head end, and the new head end is re-clamped in the second processing mechanism; if the head end is not rejected, the head end is re-clamped in the second processing mechanism.

3. The method of claim 2, wherein, The method for detecting whether the fixation strength between the tip and the suture needle meets the standard is as follows: The tension on the suture is checked to see if it reaches a preset tension value. If it does, it means that the fixation strength between the head end and the suture needle meets the standard. If it does not reach the preset tension value, it means that the fixation strength between the head end and the suture needle does not meet the standard.

4. The needle and thread assembly method according to claim 3, characterized in that, The method for detecting whether the tension in the suture reaches the preset tension value is as follows: The force-measuring component of the first processing mechanism clamps the suture and pulls the suture away from the suture needle to detect the tension on the suture.

5. The needle and thread assembly method according to any one of claims 1 to 4, characterized in that, The needle and thread assembly method further includes the detection component of the second processing mechanism detecting in real time whether the suture is at the target height; if so, no further processing is performed; if not, a reminder is issued.

6. The needle and thread assembly method according to any one of claims 1 to 4, characterized in that, The second processing mechanism separates the hardened portion into the tail end of one suture and the head end of another suture in the following manner: The lifting component of the second processing mechanism moves the wire-cutting component from its initial position to the wire-cutting position along the second direction; The wire-cutting assembly cuts off the hardened portion; The lifting component restores the wire-cutting component from the wire-cutting position to the initial position.

7. The needle and thread assembly method according to claim 1, characterized in that, After the second processing mechanism breaks the hardened part into the tail end of one suture and the head end of another suture, the needle and thread assembly method further includes: The clamping assembly releases its grip on the suture needle, and the robotic arm moves the grippable suture needle to the clamping assembly.

8. The needle and thread assembly method according to claim 7, characterized in that, The robotic arm moves the gripperable suture needle before the clamping assembly, and the needle-thread assembly method further includes: The vision mechanism uses a pre-built detection model to identify whether the needle box contains the removable suture needle; If the gripperable suture needle is available, the robotic arm moves the gripperable suture needle to the clamping assembly; If the removable suture needle is not available, the needle box is vibrated and identification is performed again.

9. The needle and thread assembly method according to claim 8, characterized in that, The vision mechanism identifies whether the needle box contains the removable suture needle by using a pre-built detection model in the following way: The detection model stores the calibration orientation, clamping point, and target pose of the grippable suture needle. The tail axis of the suture needle in the calibration orientation is the same as the axis of the suture line, and the opening of the tail faces the suture line. The clamping point is located at the tail of the suture needle. The pose of the suture needle in the calibration orientation when it is clamped by the clamping assembly is the target pose. The vision mechanism identifies the suture needle whose pose is closest to the calibrated orientation as the grippable suture needle, and the robotic arm grips the grippable suture needle and adjusts the grippable suture needle to the target pose.

10. A needle and thread assembly system, characterized in that, The needle and thread assembly system, used to implement the needle and thread assembly method as described in any one of claims 1 to 9, comprises: A thread supply mechanism for supplying the suture thread; A first processing mechanism is capable of reciprocating motion along a first direction. The first processing mechanism includes a curing component for curing a portion of the suture. The second processing mechanism is capable of reciprocating along the first direction. The second processing mechanism includes a thread clamping assembly and a thread cutting assembly. The thread cutting assembly is used to disconnect the suture thread, and the thread clamping assembly is used to clamp and drive the suture thread to move a preset distance away from the first processing mechanism. Clamping assembly for holding the suture needle; The clamping assembly, the second processing mechanism, and the first processing mechanism are arranged sequentially at intervals along a first direction.

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