Surgical needle holding device provided with two clamping mechanisms and capable of alternately clamping suture needle

Abstract

The invention discloses a surgical needle holding device provided with two clamping mechanisms and capable of alternately clamping a suture needle, relates to the field of medical instruments, and is used in cooperation with the suture needle with the two ends being pointed ends. The needle holding device is provided with a shell, the front end of the shell is rotationally connected with two clamping arms, and the two clamping arms are connected with a movable handle arranged on the shell through a connecting rod linkage mechanism so that the two clamping arms can be driven to be close to or away from each other through the movable handle; clamping mechanisms for clamping a suture needle are arranged on the clamping arms, and the two clamping mechanisms are connected with a driving part through a rope system linkage mechanism, so that the clamping mechanisms on different clamping arms are driven by the driving part to alternately clamp the suture needle. The device is suitable for various suture scenes, a medical worker can easily and reliably achieve various operations on a suture needle by operating the device with one hand, and therefore operation steps are reduced, operation difficulty is lowered, operation comfort and efficiency are improved, and injury to joints of the medical worker is reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a needle holder device for surgery, which has two clamping mechanisms and can alternately clamp suture needles. Background Art

[0002] During a surgical procedure, it is usually necessary to perform a human tissue suturing operation. The suturing operation requires the cooperation of two needle holders. This process is also called needle-holding suturing. The specific process is as follows:

[0003] Place the suture needle into the surgical area. Insert one needle holder (needle holder a) into the surgical area and clamp the tail needle shaft of the suture needle with the cooperation of the other needle holder (needle holder b). Rotate the rod body of the needle holder to adjust the needle insertion angle of the suture needle again until the needle insertion angle of the suture needle is at an appropriate angle; needle holder a clamps the suture needle for needle-passing suturing. After the front needle shaft of the suture needle passes through the tissue at the suturing position, the other needle holder (needle holder b) clamps the front needle shaft of the suture needle, and at the same time needle holder a releases. Needle holder a and needle holder b cooperate to pull out the suture needle; needle holder a continues to clamp the tail needle shaft of the suture needle, adjusts the puncture angle of the suture needle, and repeats the above steps to continue suturing until the human tissue is completely sutured.

[0004] From the above suturing process, it can be seen that the entire operation process requires the cooperation of two needle holders, which is rather cumbersome and difficult to operate. Especially during the suturing process of laparoscopic surgery, the needle holders used in abdominal surgery are relatively long and the operating space is small, making the operations such as clamping, suturing, transferring, and angle adjustment of the suture needle more difficult, greatly increasing the operation difficulty of human tissue suturing and reducing the suturing efficiency.

[0005] The existing needle holding forceps need to adjust the suturing angle by rotating the handle, and sometimes the wrist joint, elbow joint and shoulder joint need to be rotated greatly to adjust the suturing angle, which makes the suturing process uncomfortable and complicated, and the suturing operation is not flexible. The surgeon may also cause damage to these joints due to excessive movement of the wrist joint, elbow joint and shoulder joint. In addition, US2007 / 0060930A1 discloses a suturing device, system and method, which can realize the alternating clamping of the suture needle by the needle holding forceps, but the technical scheme has the following deficiencies: 1. The length of tissue that can be sutured during laparoscopic minimally invasive surgery is short, because the distance between the two clamps of the suturing device determines the maximum length of the tissue that can be sutured. During laparoscopic minimally invasive surgery, the commonly used poking channel diameter is 10mm and 5mm. The suturing device needs to pass through the poking channel, and the overall diameter of the two clamps together cannot be greater than 10mm or 5mm. After deducting the thickness of the clamps, the distance between the two clamps is much less than 10mm or 5mm, which results in the tissue being sutured. 1. The maximum length of the suture needle is much less than 10mm or 5mm; 2. The needle insertion angle and suturing angle when the suture needle is suturing tissue can only be adjusted by rotating the entire suturing device. Sometimes, the wrist joint, elbow joint and shoulder joint need to be rotated significantly to adjust the needle insertion angle and suturing angle, which makes the suturing process uncomfortable and not simple, and the suturing operation is not dexterous. The surgical staff may also cause damage to these joints due to excessive movement of the wrist joint, elbow joint and shoulder joint; 3. The way the clamp clamps the suture needle is open clamping. When suturing tissue, due to the resistance of suturing, the suture needle may shift to both sides of the opening, resulting in changes in the position of the suture needle and (or) the clamp clamping the suture needle, affecting the suture quality and not conducive to continuous suturing.

[0006] Therefore, a needle holding device with good practical value which can solve the above problems is proposed to reduce the difficulty of suturing operation, improve the comfort and efficiency of operation, and reduce the damage of joints of surgical personnel during operation. Summary of the invention

[0007] The object of the present invention is to provide a surgical needle holding device with two clamping mechanisms that can alternately clamp suture needles, flexibly adjust the angle of the suture needle, achieve suturing of tissues in a larger length range, reliably clamp, and be miniaturized for use in laparoscopic minimally invasive surgery. The needle holding device can be operated with one hand to achieve clamping, suturing, transfer, and angle adjustment of the suture needle except for the needle loading and removal steps, thereby reducing the number of operating steps for suturing human tissues, reducing the difficulty of operation, improving operating comfort, dexterity, and efficiency, and reducing injuries to the wrist, elbow, and shoulder joints of surgical personnel.

[0008] The technical solution adopted by the present invention is as follows: A needle holder device for surgery with two clamping mechanisms capable of alternately clamping a suture needle, which is used in cooperation with the suture needle. Both ends of the suture needle are pointed, and a connection point for connecting the suture thread is provided in the middle of the suture needle; the needle holder device has a housing, and two clamping arms are rotatably connected to the front end of the housing. The two clamping arms are connected to a movable handle provided on the housing through a link linkage mechanism, so that the two clamping arms can be driven to approach or separate from each other by the movable handle; clamping mechanisms for clamping the suture needle are provided on the clamping arms, and both clamping mechanisms are connected to a driving member through a rope linkage mechanism, so that the clamping mechanisms on different clamping arms can be driven to alternately clamp the suture needle by the driving member.

[0009] Further, the housing has a handle base and a sleeve. The rear end of the sleeve is rotatably connected to the handle base, the clamping arm is rotatably connected to the front end of the sleeve, and the plane in which the clamping arm rotates is perpendicular to the plane in which the sleeve rotates.

[0010] Further, the link linkage mechanism includes a first link, a first pull rod, and a second pull rod. The two ends of the first link are respectively hinged to the rear end of the clamping arm and the front end of the first pull rod. The rear end of the first pull rod is connected to the front end of the second pull rod through a first ball joint, and the rear end of the second pull rod is movably connected to the movable handle, so that the movement of the movable handle is transmitted to the clamping arm through the second pull rod, the first pull rod, and the first link, and the clamping arm makes a movement of approaching or separating from each other.

[0011] Further, the movable handle is rotatably connected to the handle base;

[0012] A chute is provided at one end of the movable handle, and the rear end of the second pull rod is slidably connected to the chute;

[0013] Alternatively, the linkage mechanism further has a second link. Both ends of the second link have chutes, and the middle of the second link is rotatably connected to the handle base. The rear end of the second pull rod is slidably connected to the chute at one end of the second link, and one end of the movable handle is slidably connected to the chute at the other end of the second link.

[0014] Further, the clamping mechanism includes a countersunk head sliding hole. The depth direction of the countersunk head sliding hole is along the length direction of the clamping arm. A slider is slidably connected in the countersunk head sliding hole. A fixed clamping block is fixed at the orifice of the countersunk head sliding hole. A first compression spring is provided between the fixed clamping block and the slider; a sliding link is fixed on the slider. After passing through the fixed clamping block, the sliding link is fixedly connected to a movable clamping block; the movable clamping block cooperates with the fixed clamping block to squeeze the suture needle under the action of the first compression spring; at the same time, the slider is connected to the rope linkage mechanism, and the driving member drives through the rope linkage mechanism to overcome the elastic force of the first compression spring, so that the suture needle is no longer squeezed by the movable clamping block.

[0015] Further, the rope linkage mechanism includes a rotating disk rotatably connected to the sleeve. The rotating surface of the rotating disk is parallel to the axis direction of the sleeve. Connecting pins are provided on the outer side surface of the rotating disk, and three traction ropes are connected to the connecting pins. One is the first traction rope, with one end connected to the connecting pin and the other end connected to one of the sliders after passing around a fixed pulley fixed on the fixed clamping block. The second is the second traction rope, with one end connected to the connecting pin after passing around the outer circumferential surface of the rotating disk and the other end connected to the other slider after passing around a fixed pulley fixed on the fixed clamping block. The third is the third traction rope, with one end connected to the connecting pin and the other end connected to the driving member. At the same time, a first tension spring is provided between the connecting pin and the sleeve wall. The two ends of the first tension spring are respectively connected to the connecting pin and the sleeve wall, and the stretching direction of the first tension spring matches the rotation direction of the rotating disk.

[0016] Further, an annular groove is provided on the outer side of the rotating disk, and all three traction ropes are located in the annular groove.

[0017] Further, the driving member is a lever. There is a strip-shaped through-hole on the sleeve, and the length direction of the strip-shaped through-hole is parallel to the axis direction of the sleeve. The lever passes through the strip-shaped through-hole and is slidably connected to the strip-shaped through-hole. Or / and the driving member is the fourth traction rope in the rope linkage mechanism. One end of the fourth traction rope is connected to the third traction rope, and the other end of the fourth traction rope is connected to a push rod. A countersunk head groove is provided at the rear end of the handle seat, and the push rod is installed in the countersunk head groove and is slidably connected to the countersunk head groove. And a second compression spring is provided between the push rod and the countersunk head groove. A runner is provided on the sliding stroke of the push rod. A plurality of notches matching the size of the push rod are evenly arranged in the circumferential direction on the runner. The push rod can extend into the notches, and there are bosses between adjacent notches. A plurality of push pins are evenly arranged on the runner. A push rod or a hook is provided between the push pin and the movable handle. The push rod or the hook is directly or indirectly connected to the movable handle. The movement of the movable handle is transmitted to the push pin through the push rod or the hook, and the movement of the push pin drives the runner to rotate, causing the push rod to alternate between being pressed against the notch and being pressed against the boss.

[0018] Further, the maximum length of the lever sliding in the strip-shaped through-hole is greater than the limit distance between the movable clamping block and the fixed clamping block, and the height difference between the notch and the boss is greater than the limit distance between the movable clamping block and the fixed clamping block.

[0019] Further, the first pull rod or the second pull rod is composed of a front pull rod section and a rear pull rod section, and there are support members respectively supporting the front pull rod section and the rear pull rod section; a limiting plate is arranged on the front pull rod section, and the limiting plate will abut against the support member supporting the front pull rod section after the front pull rod section moves forward or backward for a certain distance; a second spring is arranged between the front pull rod section and the rear pull rod section, and both ends of the second spring are respectively connected to the front pull rod section and the rear pull rod section, so that the rear pull rod section can move forward by compressing the second spring or move backward by stretching the second spring after the front pull rod section stops moving; and the fourth traction rope passes through the second spring and the rear pull rod section and is then connected to the ejector rod.

[0020] Further, the fourth traction rope and the third traction rope are connected by a second ball joint, and the second ball joint is slidably connected to the sleeve, and the sliding direction is along the axial direction of the sleeve.

[0021] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows:

[0022] 1. By arranging clamping mechanisms on both clamping arms of the present invention, when suturing human tissues, the two clamping mechanisms alternately clamp the suture needle, so that the suture needle shuttles back and forth between the two clamping arms. The two ends of the suture needle used in cooperation are both pointed ends, and both ends of the suture needle can pass through human tissues to realize the suturing of human tissues, enabling medical staff to effectively suture human tissues without using multiple needle holders to alternately clamp the suture needle. That is, the present invention enables medical staff to clamp, suture, transfer, and adjust the angle of the suture needle (except for the needle loading and needle removing links) through single-handed operation of the needle holding device, without the need to use another hand to operate another needle holder to cooperate to realize the clamping, suture, transfer, and angle adjustment of the suture needle (except for the needle loading and needle removing links). Thus, the operation steps of suturing human tissues are reduced, the operation difficulty and the space requirement for suturing tissues are lowered, the comfort and dexterity of suturing are improved, and thus the efficiency of suturing tissues is increased.

[0023] 2. By rotatably connecting the rear end of the sleeve to the handle seat of the present invention, it can be realized that medical staff can adjust the suture needle to an appropriate suturing angle by rotating the sleeve when suturing human tissues, so that the hand of the medical staff during the suturing operation is in a more comfortable posture, avoiding medical staff from adjusting the suturing angle and performing suturing operations by rotating the wrist joint, elbow joint, and shoulder joint greatly. Thus, the joint injuries caused by excessive movement of the wrist joint, elbow joint, and shoulder joint of the surgical staff are reduced, and the suturing operation is also made more convenient, simple, comfortable, and dexterous.

[0024] 3. The present invention realizes the approach and separation of two clamping arms through rotation. Since the distance between the two clamping arms when they are separated is the length by which the human tissue can be sutured, by setting different lengths of the clamping arms and different angles of separation, the lengths required for suturing in different surgeries can be satisfied. That is to say, this setting can achieve a relatively large range of lengths of tissue that can be sutured, namely, it can realize the suturing of shorter and longer tissues. At the same time, the two clamping arms can be manufactured in a miniaturized manner. When the two clamping arms approach each other, the miniaturized clamping arms can even pass through a trocar channel with a diameter of 5 mm. Therefore, the needle-holding device of the present invention can be effectively applied to endoscopic minimally invasive surgeries.

[0025] 4. The present invention cooperates with a fixed clamping block and a movable clamping block to surround and hold the suture needle, which can make the clamping have higher stability, that is, when the suture needle sutures human tissue, the position of the suture needle and the position of holding the suture needle will not shift due to the suture resistance, which is beneficial to ensuring the suture quality and continuous suturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be described by way of examples with reference to the accompanying drawings, where:

[0027] Figure 1 is the first structural schematic diagram of the present invention;

[0028] Figure 2 is the second structural schematic diagram of the present invention;

[0029] Figure 3 is the third structural schematic diagram of the present invention;

[0030] Figure 4 is Figure 1 the enlarged schematic diagram at A in

[0031] Figure 5 is Figure 4 the enlarged schematic diagram at E in

[0032] Figure 6 is Figure 1 the enlarged schematic diagram at B in

[0033] Figure 7 is the structural schematic diagram of the traction rope passing through the positioning nail;

[0034] Figure 8 is Figure 1 the enlarged schematic diagram at C in

[0035] Figure 9 When the suture needle is a straight needle, Figure 3 the enlarged schematic diagram at D in

[0036] Figure 10 When the suture needle is a straight needle, Figure 9Enlarged schematic diagram at position F in [Chinese context];

[0037] Figure 11 When the suture needle is an arc-shaped needle, Figure 9 Enlarged schematic diagram of replacing the push rod with a retractor at position F in [Chinese context];

[0038] Figure 12 Schematic diagram of the position distribution of the wide mouth;

[0039] Figure 13 Schematic diagram of the position distribution of the wide mouth on the rotating shaft;

[0040] Figure 14 Schematic diagram of the sectional structure of the rotating disc;

[0041] Figure 15 Schematic diagram of the sectional structure of the cavity;

[0042] Figure 16 Schematic diagram of the position distribution of the shift lever;

[0043] Figure 17 Process diagram of transportation when the suture needle is a straight needle;

[0044] Figure 18 Process diagram of transportation when the suture needle is an arc-shaped needle

[0045] Figure 19 Schematic diagram of the structure with the limit plate and the second spring;

[0046] Figure 20 For Figure 19 Enlarged schematic diagram at position G in [Chinese context];

[0047] Markings in the figure: 1 - suture needle; 2 - clamping arm; 21 - first arm; 211 - countersunk sliding hole; 231 - wide mouth; 22 - second arm; 23 - rotating shaft; 24 - first clamping mechanism; 25 - second clamping mechanism; 261 - movable clamping block; 262 - fixed clamping block; 27 - sliding connecting rod; 28 - slider; 29 - first compression spring; 31 - sleeve; 32 - handle base; 33 - dial block; 34 - cavity; 35 - strip-shaped through hole; 41 - first connecting rod; 42 - first pull rod; 43 - second pull rod; 431 - rear pull rod section; 432 - second spring; 433 - limiting plate; 434 - front pull rod section; 44 - first ball hinge; 45 - second connecting rod; 46 - chute; 5 - rotating disk; 51 - first traction rope; 52 - second traction rope; 53 - third traction rope; 54 - fourth traction rope; 55 - positioning pin; 56 - annular groove; 57 - first tension spring; 58 - connecting pin; 61 - lever; 62 - movable handle; 63 - limiting block; 7 - runner; 70 - hook, 701 - inclined surface; 71 - push rod; 711 - notch; 712 - missing notch; 72 - ejector rod; 73 - second ball hinge; 74 - pushing pin; 75 - second compression spring; 76 - countersunk groove; 77 - gap; 78 - boss; 79 - torsion spring. Detailed implementation mode

[0048] In the description of this specification, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of this specification is usually placed during use. It is only for the convenience of describing this specification and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to this specification.

[0049] In addition, in the description of this specification, if terms such as "horizontal" and "vertical" are used, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0050] In the description of this specification, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components.

[0051] Embodiment 1

[0052] Such asFigures 1 - 20 As shown in Figures 1 - 20 , a needle holder for surgical use has two clamping mechanisms that can alternately clamp a suture needle, which is used in conjunction with suture needle 1. Both ends of suture needle 1 are pointed, and there is a connection point in the middle of suture needle 1 for connecting the suture thread; feasibly, this needle holder can be used in conjunction with "A Medical Suture Needle with a Hidden Knot Structure" applied by the applicant on the same day to complete the suturing of tissues; specifically, this needle holder has a housing, and two clamping arms 2 are rotatably connected to the front end of the housing, that is, the middle parts of the two clamping arms 2 are rotatably connected around the same rotation axis 23, and the rotation axis 23 is fixed on the housing; it should be noted that since the two clamping arms 2 are arranged side by side, some materials can extend along the side-by-side direction on the clamping arms 2 to achieve that the facing surfaces of the two clamping arms 2 can be in contact when they approach each other; the rear ends of the two clamping arms 2 are connected to a movable handle 62 arranged on the housing through a linkage mechanism, so that the two clamping arms 2 can be driven to approach or move away from each other by the movable handle 62; clamping mechanisms for clamping suture needle 1 are arranged on the clamping arms 2, and both clamping mechanisms are connected to a driving member through a cord linkage mechanism, so that the clamping mechanisms on different clamping arms 2 can be driven to alternately clamp suture needle 1 by this driving member.

[0053] For the convenience of description, the two clamping arms 2 are respectively referred to as the first arm 21 and the second arm 22, and the corresponding clamping mechanisms are the first clamping mechanism 24 and the second clamping mechanism 25; at the beginning of suturing human tissues, the first arm 21 and the second arm 22 are in a separated state from each other. First, use the first clamping mechanism 24 to clamp suture needle 1 on the first arm 21. After adjusting the needle insertion angle, operate the movable handle to make the first arm 21 and the second arm 22 approach each other. During the approaching process, suture needle 1 will pass through the human tissue and enter the clamping range of the second clamping mechanism 25. Then, use the driving member to drive the second clamping mechanism 25 on the second arm 22 to clamp suture needle 1, and at the same time, the first clamping mechanism 24 releases suture needle 1; operate the movable handle, and the first arm 21 and the second arm 22 move away from each other, realizing that the second clamping mechanism 25 drives suture needle 1 to pass through the human tissue; readjust the needle insertion position, and the second arm 22 clamps suture needle 1 and repeats the above steps as the first arm 21 to continuously suture the human tissue until the human tissue to be sutured is completely sutured.

[0054] It can be seen from this that the solution provided in this embodiment enables medical staff to achieve the clamping, suturing, transmission, and angle adjustment of the suture needle (except for the needle loading and needle removal steps) by operating the needle holder with one hand, without the need to use the other hand to operate another needle holder to cooperate to achieve the clamping, suturing, transmission, and angle adjustment of the suture needle (except for the needle loading and needle removal steps). Therefore, the operation steps for suturing human tissues are reduced, the operation difficulty and the space requirements for suturing tissues are reduced, the comfort and dexterity of suturing are improved, and thus the efficiency of suturing tissues is improved.

[0055] Embodiment 2

[0056] Based on Example 1, a specific implementation method that can be implemented is further proposed.

[0057] A feasible implementation manner, the shell has a handle seat 32 and a sleeve 31, the rear end of the sleeve 31 is rotatably connected to the handle seat 32, the clamping arm 2 is rotatably connected to the front end of the sleeve 31, and the plane where the clamping arm 2 rotates around the rotating axis 23 is perpendicular to the plane where the sleeve 31 rotates around the handle seat 32, so that the rotation of the clamping arm 2 and the rotation of the sleeve 31 do not interfere with each other; the rotation of the sleeve 31 can bring the clamping arm 2 to rotate with the sleeve 31, and the needle insertion angle and suturing angle of the suture needle 1 can be adjusted by rotating the sleeve 31; at the same time, the surface of the clamping arm is designed to be round and blunt, even if entanglement occurs, the clamping arm 2 can easily get out of the entangled wire.

[0058] Furthermore, the sleeve 31 is connected to the handle seat 32 via a bearing to improve the stability of rotation.

[0059] It should be noted that when considering the arrangement of the rope linkage mechanism, targeted settings are made, as described below, so that the rope linkage mechanism will not interfere with the rotation of the sleeve, so that medical personnel can adjust the suture needle to the appropriate suturing angle by rotating the sleeve when suturing human tissue, so that the medical personnel's hands are in a more comfortable posture during the suturing operation, avoiding the medical personnel from adjusting the suturing angle and performing suturing operations by significantly rotating the wrist joint, elbow joint and shoulder joint, thereby reducing these joint injuries caused by excessive movement of the wrist joint, elbow joint and shoulder joint of the surgeon, and making the suturing operation more convenient, simple, comfortable and dexterous.

[0060] Example 3

[0061] Based on any one of the implementations in Examples 1-2, a feasible specific implementation is further proposed.

[0062] Regarding the manner in which the rear end of the sleeve 31 is rotatably connected to the handle base 32 , the rear end of the sleeve 31 can be rotatably connected to the inner wall or the outer wall of the handle base 32 .

[0063] For the working mode of the link linkage mechanism, the link linkage mechanism includes a first link 41, a first pull rod 42, and a second pull rod 43. The two ends of the first link 41 are respectively hinged to the rear end of the clamping arm 2 and the front end of the first pull rod 42. The rear end of the first pull rod 42 is connected to the front end of the second pull rod 43 through a first ball joint 44. The setting position of the first ball joint 44 is on the axis of the sleeve 31, ensuring that the first link 41 and the first pull rod 42 can rotate following the sleeve 31 and do not affect the forward and backward movement of the second pull rod 43 being transmitted to the first link 41 through the first pull rod 42. The rear end of the second pull rod 43 is movably connected to the movable handle 62, so that the movement of the movable handle 62 is transmitted to the clamping arm 2 through the second pull rod 43, the first pull rod 42, and the first link 41, and the clamping arms 2 move closer to or away from each other.

[0064] Specifically, there are two first links 41. The first link 41 and the clamping arm 2 form a parallelogram structure. The first pull rod 42 moves backward along the axis of the sleeve 31, pulling the first link 41 to move backward. Under the constraint of the rotation axis 23 of the clamping arm 2, the two clamping arms 2 rotate and move closer to each other. On the contrary, when the first pull rod 42 moves forward along the sleeve 31, the two clamping arms 2 rotate and move away from each other. The forward and backward movement of the first pull rod 42 is realized by the movable handle 62 driving the second pull rod 43 to move forward and backward, and the second pull rod 43 driving the first pull rod 42 to move forward and backward.

[0065] For the way that the rear end of the sleeve 31 is not rotatably connected to the handle base 32, the first ball joint 44 may not be provided, and the first pull rod 42 and the second pull rod 43 can be directly fixed as a whole.

[0066] Furthermore, based on the fact that usually the movable handle 62 is rotatably connected to the handle base 32, for the technical feature of how the movable handle 62 drives the second pull rod 43 to move forward and backward, the present embodiment proposes the following several implementation manners.

[0067] As Figure 1 shown, in the first implementation manner, a chute 46 is provided at one end of the movable handle 62, and the rear end of the second pull rod 43 is slidably connected to the chute 46. That is, when the movable handle 62 rotates clockwise, the second pull rod 43 under the constraint of the chute 46 moves backward; when the movable handle 62 rotates counterclockwise, the second pull rod 43 under the constraint of the chute 46 moves forward.

[0068] As Figure 2 and Figure 3As shown, in the second embodiment, the linkage mechanism further includes a second connecting rod 45. Both ends of the second connecting rod 45 are provided with sliding grooves 46, and the middle of the second connecting rod 45 is rotatably connected to the handle base 32. The rear end of the second pull rod 43 is slidably connected to the sliding groove 46 at one end of the second connecting rod 45, and one end of the movable handle 62 is slidably connected to the sliding groove 46 at the other end of the second connecting rod 45. That is, when the movable handle 62 rotates clockwise, the second connecting rod 45 rotates counterclockwise under the constraint of the sliding groove 46, so that the second pull rod 43 under the constraint of the sliding groove 46 moves forward; when the movable handle 62 rotates counterclockwise, the second connecting rod 45 rotates clockwise under the constraint of the sliding groove 46, so that the second pull rod 43 under the constraint of the sliding groove 46 moves backward.

[0069] It should be noted that the opening of the sliding groove 46 can effectively avoid the movement interference caused by rotation and translation.

[0070] Furthermore, support members can be provided in both the sleeve 31 and the handle base 32 to slidably support the first pull rod 42 and the second pull rod 43 respectively.

[0071] Embodiment 4

[0072] On the basis of any one of the embodiments 1-3, a feasible specific implementation manner is further proposed.

[0073] As Figure 4 、 Figure 5 shown, regarding the clamping mechanism, the clamping mechanism includes a countersunk head sliding hole 211 provided on the clamping arm 2. The depth direction of the countersunk head sliding hole 211 is along the length direction of the clamping arm 2. A slider 28 is slidably connected in the countersunk head sliding hole 211. A fixed clamping block 262 is fixed at the orifice of the countersunk head sliding hole 211. A first compression spring 29 is provided between the fixed clamping block 262 and the slider 28. A sliding connecting rod 27 is fixed on the slider 28. The sliding connecting rod 27 passes through the fixed clamping block 262 and is fixedly connected to a movable clamping block 261. The movable clamping block 261 and the fixed clamping block 262 cooperate to squeeze the clamping suture needle 1 under the action of the first compression spring 29. At the same time, the slider 28 is connected to the rope-based linkage mechanism, and the driving member drives through the rope-based linkage mechanism to overcome the elastic force of the first compression spring 29 so that the suture needle 1 is no longer squeezed by the movable clamping block 261.

[0074] As can be known from the above description of the structure of the clamping mechanism, the clamping mechanism disclosed in this embodiment is a surrounding clamping (the surfaces of the fixed clamping block 262 and the movable clamping block 261 that cooperate to clamp the suture needle can be set as arc-shaped surfaces that match the radial cross-section of the suture needle, so as to realize surrounding clamping of the suture needle), which is significantly different from the way of clamping the suture needle in the solution disclosed in the prior art US2007 / 0060930A1 (open clamping, and the suture needle is prone to slip towards the opening position when being clamped). The surrounding clamping disclosed in this embodiment has higher stability, that is, when the suture needle sutures human tissues, the position of the suture needle and the position of clamping the suture needle will not shift due to the suture resistance.

[0075] It should be noted that the entrance of the suture needle into the clamping mechanism is called the needle entrance. For a straight suture needle, its needle entrances can be arranged oppositely, and the normal vectors of the needle entrances are within the plane where the arc-shaped movement of the clamping arm 2 is located, that is, the needle is within the plane where the arc-shaped movement of the clamping arm 2 is located, so that the straight suture needle can enter and exit the clamping mechanism. Preferably, there are 2 sliding link rods 27. It can be seen that Figures 1 - 4 ; for an arc-shaped suture needle, the normal vector of its needle entrance should be set perpendicular to the plane where the arc-shaped movement of the clamping arm is located, that is, the needle enters from the side, and the plane where the needle is located is perpendicular to the plane where the arc-shaped movement of the clamping arm is located. More specifically, relative to Figure 4 the straight suture needle entering structure shown, preferably, there is only 1 sliding link rod 27.

[0076] Specifically, the driving member opens the clamping mechanism (the first clamping mechanism 24 on the first arm 21) of one of the clamping arms 2 through the driving rope system linkage mechanism, and at the same time closes the clamping mechanism (the second clamping mechanism 25 on the second arm 22) of the other clamping arm 2. After placing the suture needle in the first clamping mechanism 24 and adjusting the position of the suture needle, the driving member resets. The first clamping mechanism 24 on the first arm 21 closes to clamp the suture needle, and at the same time the second clamping mechanism 25 on the second arm 22 opens.

[0077] More specifically, the process of opening and closing the clamping mechanism is as follows:

[0078] Opening: The traction rope (such as the first traction rope 51 or the second traction rope 52 below) between the rope system linkage mechanism and the slider 28 pulls the slider 28 to move along the countersunk slide hole 211. The slider 28 compresses the first compression spring 29, and the first compression spring 29 has elastic potential energy. At the same time, the slider 28 drives the movable clamping block 261 away from the fixed clamping block 262 through the sliding link rod 27, realizing the opening of the clamping mechanism;

[0079] Closing: The traction rope between the rope-tethered linkage mechanism and the slider 28 (such as the second traction rope 52 or the first traction rope 51 below) is in a relaxed state. The elastic potential energy of the first compression spring 29 is released, pushing the slider 28 to move. The slider 28 drives the movable clamping block 261 to approach the fixed clamping block 262 through the sliding link 27, realizing the closing of the clamping mechanism.

[0080] It should be noted that for the specific setting of this clamping mechanism, when the two clamping arms 2 approach each other, since there is sufficient space at the front end of the clamping arm 2 that does not hold the suture needle 1 (between the movable clamping block 261 and the fixed clamping block 262), and this space is located before the position where the suture needle 1 is clamped, the suture needle 1 can effectively enter between the movable clamping block 261 and the fixed clamping block 262 of the clamping arm 2 that does not hold the suture needle 1 when the clamping arms 2 approach each other.

[0081] Furthermore, a further design can be made. As known from the above, the movable clamping block 261 will move along the length direction of the clamping arm 2. A protective sleeve can be sleeved at the distal end of the clamping arm, and the movable clamping block 261 slides within the protective sleeve to prevent the movable clamping block 261 from moving away from the fixed clamping block 262 and causing impact damage to human tissues. Further, the protective sleeve also has a notch for the suture needle to pass through. The protective sleeve is provided on the fixed clamping block 262 or the clamping arm 2. The protective sleeve is made of a hard material and can resist the human tissue to maintain its position. On the one hand, it prevents the movable clamping block 261 from causing impact damage to human tissues during movement, and on the other hand, it improves the stability of the position of human tissues during suturing.

[0082] Furthermore, as Figures 1 - 3 、 Figure 6 、 Figure 7 、 Figure 8As shown in the figure, the rope-linkage mechanism includes a rotating disk 5 rotatably connected to the sleeve 31. The rotating surface of the rotating disk 5 is parallel to the axis direction of the sleeve 31. A connecting pin 58 is provided on the outer side surface of the rotating disk 5, and three traction ropes are connected to the connecting pin 58. One is the first traction rope 51, one end of which bypasses the outer side surface of the rotating disk 5 and is connected to the connecting pin 58, and the other end bypasses a fixed pulley fixed on the fixed clamping block 262 and is then connected to one of the sliders 28 (preferably the slider 28 within the same-side clamping wall); the second is the second traction rope 52, one end of which bypasses the outer side surface of the rotating disk 5 and is connected to the connecting pin 58, and the other end bypasses a fixed pulley fixed on the fixed clamping block 262 and is then connected to another one of the sliders 28; the first traction rope 51 and the second traction rope 52 are respectively located on both sides of the connecting pin 58; the third is the third traction rope 53, one end of which bypasses the outer side surface of the rotating disk 5 and is connected to the connecting pin 58, and the other end is connected to the driving member; meanwhile, a first tension spring 57 is provided between the connecting pin 58 and the wall of the sleeve 31. Both ends of the first tension spring 57 are respectively connected to the connecting pin 58 and the wall of the sleeve 31. The stretching direction of the first tension spring 57 matches the rotation direction of the rotating disk 5, and the first tension spring 57 is arranged in front of the rotating disk 5; it is realized to control the alternating opening and closing of the clamping mechanisms on the two clamping arms 2 through the rope-linkage mechanism. The specific process is as follows.

[0083] The driving member drives the third traction rope 53 to move backward, the rotating disk 5 rotates backward, pulls the first traction rope 51, and simultaneously releases the second traction rope 52, and the first tension spring 57 has elastic potential energy; the first traction rope 51 pulls the slider 28 on the first clamping mechanism 24, and the slider 28 drives the movable clamping block 261 away from the fixed clamping block 262 through the sliding connecting rod 27, so as to realize the opening of the first clamping mechanism 24; at the same time, the second traction rope 52 is released, the first compression spring 29 in the second clamping mechanism 25 releases elastic force, and the slider 28 drives the movable clamping block 261 to approach the fixed clamping block 262 through the sliding connecting rod 27, realizing the closing of the second clamping mechanism 25; on the contrary, the driving member appropriately releases a certain length of the third traction rope 53, the elastic potential energy of the first tension spring 57 is released, pulling the rotating disk 5 to rotate forward, pulling the second traction rope 52, and simultaneously the first traction rope 51 is released, thereby realizing the closing of the first clamping mechanism 24 and the opening of the second clamping mechanism 25.

[0084] Furthermore, an annular groove 56 is provided on the outer side of the rotating disk 5, and all three traction ropes are located within the annular groove 56. The position of the traction ropes is restricted through the annular groove 56 to avoid traction failure caused by the detachment of the traction ropes; and the movement amount of the traction ropes can be effectively reflected in the circumferential travel of the rotation of the rotating disk 5, which is convenient for dimension design.

[0085] It is feasible that the number of the annular grooves 56 can be two, the two annular grooves 56 are parallel to each other, and the second traction rope 52 and the third traction rope 53 are respectively placed in the two annular grooves 56, so that the second traction rope 52 and the third traction rope 53 are independent of each other, avoiding mutual squeezing between the second traction rope 52 and the third traction rope 53, and ensuring the reliability of the movement of the traction rope.

[0086] Furthermore, in order to make the rotating disk 5 have a sufficient size so that the clamping mechanism can open a sufficient size, the sleeve 31 can be provided with a cavity 34 to meet the installation requirements of the rotating disk 5 .

[0087] Furthermore, a shift block 33 may be provided on the outer wall of the cavity 34 to facilitate medical personnel to rotate the sleeve 31 and adjust the needle insertion angle.

[0088] To further explain, the first pull rod 42 only needs to move along the axis of the sleeve 31 relative to the sleeve 31, so the first pull rod 42 can be provided with multiple turning points to avoid the position of the rotating disk 5 and avoid spatial interference.

[0089] Preferably, in order to prevent the traction rope from pulling the slider 28 in a bow shape and to reduce the change in the state of the traction rope between the slider 28 and the connecting nail 58 when the clamping arm 2 rotates, the traction rope preferably passes through the first pull rod 42 along the axis of the sleeve 31 and also along the axis of the first pull rod 42, then passes through the rotating shaft 23 connected to the rotation of the clamping arm 2, passes through the clamping arm 2 along the center line of the clamping arm 2, and is connected to the slider 28 after bypassing the fixed pulley fixed on the fixed clamp block 262.

[0090] To this end, in order to avoid the first pull rod 42 and the driving member from affecting the traction rope when they move forward and backward, positioning pins 55 can be provided between the first pull rod 42 and the rotating disk 5 and between the driving member and the rotating disk 5. The positioning pins 55 are located on the axis of the sleeve 31. The first traction rope 51 and the second traction rope 52 connected to the connecting pin 58 on the rotating disk 5 pass through the positioning pin 55 along the axis of the sleeve 31 or the axis of the first pull rod 42 and then pass through the first pull rod 42; the third traction rope 53 connected to the connecting pin 58 on the rotating disk 5 passes through the positioning pin 55 along the axis of the sleeve 31 and then connects to the driving member; this design ensures that the spatial positions of the tangent points of the first traction rope 51, the tangent points of the second traction rope 52, and the tangent points of the third traction rope 53 remain unchanged.

[0091] Further, in order to embody the movement amounts of the three traction ropes in the rotation path of the rotating disk 5, the positions of the two positioning pins 55 can be adjusted, and the size of the rotating disk 5 can be designed such that under the action of the third traction rope 53 and the first tension spring 57, the movement range of the connecting pin 58 is between the tangent point where the first traction rope 51 is tangent to the rotating disk 5 and the tangent point where the third traction rope 51 is tangent to the rotating disk 5, so as to ensure that the three traction ropes are closely attached to the rotating disk 5, and the movement amounts of the three traction ropes are embodied in the rotation path of the rotating disk 5, so that the movement amounts of the three traction ropes are consistent, and further the clamping arm 2 can clamp and release the suture needle simultaneously.

[0092] Further, as Figures 12 - 13 shown, in order to prevent the traction rope from being wound around the rotating shaft 23 to which the clamping arm 2 is rotationally connected when the clamping arm 2 rotates, a wide opening 231 can be provided at the position where the traction rope enters the rotating arm and the position where the traction rope exits the rotating shaft 23. The angle of the wide opening 231 is greater than twice the angle of rotation of the rotating arm, and this technical problem can be solved.

[0093] It should be noted that the components through which the above traction ropes pass can all be provided with openings for the traction ropes to effectively pass through, and the opening positions need to be made in combination with the assembly requirements.

[0094] Embodiment 5

[0095] Based on the implementation manners described in any one of Embodiments 1 - 4, further feasible specific implementation manners are proposed.

[0096] Regarding the driving member, the following several feasible implementation manners are proposed in this embodiment.

[0097] As Figure 2 shown, in the first implementation manner, the driving member is a lever 61. There is a strip-shaped through hole 35 on the sleeve 31, and the length direction of the strip-shaped through hole 35 is parallel to the axis direction of the sleeve 31. The lever 61 passes through the strip-shaped through hole 35 and is slidably connected to the strip-shaped through hole 35. In order to prevent the lever 61 from moving along the axis direction of the strip-shaped hole (perpendicular to the axis direction of the sleeve 31), after the lever 61 passes through the strip-shaped hole, a limiting block 63 can be fixed on the lever 61. The sleeve 31 is located between the two limiting blocks 63 and the limiting blocks 63 are in contact with the outer wall of the sleeve 31. The third traction rope 53 is connected to the lever 61. When the medical staff pulls the lever 61 backward, the rotating disk 5 rotates backward. When the medical staff releases the lever 61, the rotating disk 5 rotates forward under the action of the first tension spring 57 and drives the lever 61 to move forward at the same time.

[0098] Adopting the first implementation manner, when the suture needle 1 is a straight needle, the specific process of suturing human tissues is as follows.

[0099] A1: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other, that is, the clamping arms 2 are in the open state, and with the help of tools or other medical staff, it is kept in the open state;

[0100] A2: The medical staff uses the left hand to move the lever 61 backward, the first clamping mechanism 24 opens, the medical staff puts the suture needle 1 into the clamping position of the first clamping mechanism 24 through tools, and aligns the suture needle 1; releases the lever 61, and the first clamping mechanism 24 closes to clamp the suture needle 1; the installation of the suture needle 1 is completed;

[0101] A3: Adjust the needle insertion angle. The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move closer to each other, and punctures the human tissue with the suture needle; the two clamping arms 2 continue to move closer, and the suture needle enters the clamping position of the second clamping mechanism 25 (the second clamping mechanism 25 is in the open state);

[0102] A4: The medical staff uses the left hand to move the lever 61, the first clamping mechanism 24 opens, and at the same time the second clamping mechanism 25 closes to clamp the suture needle 1;

[0103] A5: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other, so that the second clamping mechanism 25 drives the suture needle 1 through the human tissue;

[0104] A6: The medical staff uses the left hand to steady the moved lever 61, adjusts the needle insertion angle, the medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move closer to each other, and drives the suture needle to completely pass through the human tissue; the two clamping arms 2 continue to move closer, and the suture needle enters the clamping position of the first clamping mechanism 24 (the first clamping mechanism 24 is in the open state);

[0105] A7: The medical staff releases the lever 61 with the left hand, the second clamping mechanism 25 opens, and at the same time the first clamping mechanism 24 closes to clamp the suture needle 1;

[0106] A8: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other, so that the first clamping mechanism 24 drives the suture needle 1 through the human tissue;

[0107] A9: Repeat steps A3 - A8 to continuously suture the human tissue until the human tissue is completely sutured.

[0108] Adopting this embodiment, when the suture needle is an arc-shaped needle, the specific process of suturing the human tissue is as follows.

[0109] A1: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other, that is, the clamping arms 2 are in the open state, and with the help of tools or other medical staff, it is kept in the open state;

[0110] A2: The medical staff uses their left hand to move the lever 61 backward, opening the first clamping mechanism 24. The medical staff then places the suture needle 1 into the clamping position of the first clamping mechanism 24 using a tool and aligns the suture needle 1. After releasing the lever 61, the first clamping mechanism 24 closes to clamp the suture needle 1, completing the installation of the suture needle 1.

[0111] A3: The medical staff operates the movable handle 62 with their right hand, causing the clamping arms 2 to move closer to each other. After they are in place, the medical staff adjusts the needle insertion angle and rotates the handle seat 32 or the sleeve 31 so that the clamping arms 2 drive the suture needle to puncture the human tissue in a rotational manner. After the two clamping arms 2 move closer, the suture needle 1 then passes through the human tissue. The purpose is to create space to avoid the non - suture - needle - clamping arm 2 interfering with the position of the suture needle 1 as it passes through the human tissue, which could affect the suturing.

[0112] A4: The medical staff operates the movable handle 62 with their right hand, causing the clamping arms 2 to move away from each other. After they are in place, the suture needle enters the clamping position of the second clamping mechanism 25 (the second clamping mechanism 25 is in the open state).

[0113] A5: The medical staff uses their left hand to move the lever 61, opening the first clamping mechanism 24. At the same time, the second clamping mechanism 25 closes to clamp the suture needle 1.

[0114] A6: Subsequently, the medical staff operates the movable handle 62 with their right hand. After the clamping arms 2 move closer to each other and are in place, the medical staff rotates the handle seat 32 or the sleeve 31 so that the second clamping mechanism 25 drives the suture needle 1 to continue rotating, enabling the suture needle to completely pass through the human tissue.

[0115] A7: The medical staff uses their left hand to hold the moved lever 61 steady. The medical staff then operates the movable handle 62 with their right hand. After the clamping arms 2 move closer to each other and are in place, the medical staff adjusts the needle insertion angle and then drives the suture needle to puncture the human tissue.

[0116] A8: The medical staff operates the movable handle 62 with their right hand, causing the clamping arms 2 to move away from each other. After they are in place, the suture needle enters the clamping position of the first clamping mechanism 24 (the first clamping mechanism 24 is in the open state).

[0117] A9: The medical staff releases the lever 61 with their left hand, opening the second clamping mechanism 25. At the same time, the first clamping mechanism 24 closes to clamp the suture needle 1.

[0118] A10: Subsequently, the medical staff operates the movable handle 62 with their right hand. After the clamping arms 2 move closer to each other and are in place, the medical staff rotates the handle seat 32 or the sleeve 31 so that the first clamping mechanism 24 drives the suture needle 1 to continue rotating, enabling the suture needle to completely pass through the human tissue.

[0119] A9: Repeat steps A3 - A10 to continuously suture the human tissue until the human tissue is completely sutured.

[0120] As can be seen from the above, whether the suture needle is a straight needle or an arc needle, this operation still requires two hands of medical staff. Therefore, a second implementation manner is proposed, that is, the movable handle 62 is used as the driving member.

[0121] The second implementation manner is as Figure 1 , Figures 3 - 10 , Figures 12 - 17 shown. For a straight suture needle, the driving member is the fourth traction rope 54 in the rope-tied linkage mechanism. One end of the fourth traction rope 54 is connected to the third traction rope 53, and the other end of the fourth traction rope 54 is connected with a push rod 72; a countersunk head groove 76 is opened at the rear end of the handle base 32, and the push rod 72 is installed in the countersunk head groove 76 and is slidably connected with the countersunk head groove 76, and a second compression spring 75 is arranged between the push rod 72 and the countersunk head groove 76; a runner 7 is arranged on the sliding stroke of the push rod 72, and a plurality of notches 77 matching the size of the push rod 72 are uniformly arranged in the circumferential direction on the runner 7. The push rod 72 can extend into the notches 77, and there are bosses 78 between adjacent notches 77. A plurality of push pins 74 are uniformly arranged on the runner 7; the rotation of the movable handle 62 provides the driving force for the fourth traction rope 54 to pull the traction rope 53. Specifically, a push rod 71 is arranged between the push pin 74 and the movable handle 62, and the push rod 71 is directly or indirectly connected with the movable handle 62. The movement of the movable handle 62 is transmitted to the push pin 74 through the push rod 71. The movement of the push pin 74 drives the runner 7 to rotate, so that the push rod 72 alternates between being pressed against the notches 77 and being pressed against the bosses 78.

[0122] Specifically, taking the front end of the push rod 72 being pressed against the runner 7 and the fourth traction rope 54 being connected to the rear end of the push rod 72 as an example for illustration.

[0123] When the push rod 72 is inserted into the notch 77 and pressed against the notch 77 under the action of the second compression spring 75, the push rod 72 pulls the third traction rope 53 to move backward through the fourth traction rope 54, so that the rotating disk 5 rotates backward, the first clamping mechanism 24 is opened, and the second clamping mechanism 25 is closed; rotate the movable handle 62, the movable handle 62 pushes the push pin 74 through the push rod 71, the push pin 74 causes the runner 7 to rotate, and the push rod 72 changes from the position of pressing against the notch 77 to the position of pressing against the boss 78, overcoming the elastic force of the second compression spring 75, the fourth traction rope 54 is slack, and the rotating disk 5 rotates forward under the action of the elastic force release of the first tension spring 57, the first clamping mechanism 24 is closed, and the second clamping mechanism 25 is opened; while the movable handle 62 rotates, it also drives the first clamping arm 2 and the second clamping arm 2 to approach or separate, so as to realize that the suture needle 1 passes through the human tissue and is transported to be clamped by the clamping mechanism on the other clamping arm 2.

[0124] Further, on the basis of Embodiment 3, the push rod 71 can be installed on the movable handle 62 or the second connecting rod 45, and the installation method is a rotational connection, so as to ensure that there is no movement interference when the push rod 71 pushes the runner 7 to rotate; at the same time, a torsion spring 79 is provided at the position where the push rod 71 is rotationally connected, so that after the push rod 71 pushes the previous pusher 74, the push rod 71 will rotate accordingly, and thus the torsion spring 79 can deform accordingly and have elastic potential energy; when the movable handle 62 or the second connecting rod 45 rotates, the push rod 71 will move backward or forward accordingly. When the push rod 71 pushes the previous pusher 74 in place and then moves forward, the push rod 71 disengages from the previous pusher 74, and the previous pusher 74 no longer restricts the push rod 71, that is, no longer abuts against the push rod 71. The push rod 71 is reset under the action of the torsion spring 79, and the position of the push rod 71 during reset is limited by a limit block installed on the movable handle 62 or the second connecting rod 45; at the same time, there is a notch 712 at the position where the pusher 74 enters the push rod 71, so that the next pusher 74 can enter the notch 711 position of the push rod 71, avoiding spatial interference.

[0125] Further, as Figure 10 shown, in order to stably push the pusher 74, the distal end of the push rod 71 has a notch 711 matching the pusher 74, and the pusher 74 enters the notch 711 of the push rod 71 during pushing; in order to avoid the situation where the pusher 74 cannot smoothly enter the notch 711 due to insufficient manufacturing precision or deformation during use, the caliber size of the notch 711 can be larger than the diameter of the pusher 74, or the upper and lower branches of the notch 711 can be unequal, as Figure 10 shown by the setting where the upper branch of the notch 711 is short and the lower branch is long. After the push rod 71 moves forward until the upper branch of the notch 711 passes the next pusher 74, the push rod 71 is reset under the action of the torsion spring 79. The upper branch position of the notch 711 is higher than the pusher 74. When the push rod 71 moves forward to the limit position, the lower branch of the notch 711 is still located below the next pusher 74, so that the pusher 74 can smoothly enter the notch 711 when the push rod 71 moves backward.

[0126] It should be noted that by adopting the push rod 71, the main effect is that when the movable handle 62 is reset, it will not drive the pusher 74 to move, so that the runner 7 will not rotate, which meets the purpose that the clamping mechanism of the two clamping arms 2 only transfers the suture needles 1 once during one opening and closing.

[0127] It should be noted that since the third towing rope 53 will rotate following the sleeve 31 and the third towing rope 53 is connected to the fourth towing rope 54, in order to avoid the fourth towing rope 54 generating a conical rotation path and the turning position of the first pull rod 42 affecting the fourth towing rope 54 when rotating following the sleeve 31, the fourth towing rope 54 passes through the second pull rod 43 along the axis of the sleeve 31. Of course, the axis of the second pull rod 43 is also collinear with the axis of the sleeve 31.

[0128] Furthermore, since both the third towing rope 53 and the fourth towing rope 54 are in a straightened state, and the fourth towing rope 54 passes through the second pull rod 43, and the connection position of the third towing rope 53 and the connecting pin 58 is not on the axis of the sleeve 31. Therefore, in order to avoid the forward and backward movement of the second pull rod 43 affecting the towing ropes, and at the same time when the sleeve 31 drives the rotating disk 5 to rotate and the rotating disk 5 drives the third towing rope 53 to rotate around the axis of the sleeve 31, to avoid the fourth towing rope 54 rotating around itself and causing the phenomenon of the towing rope twisting, a second ball joint 73 can be provided between the third towing rope 53 and the fourth towing rope 54. The second ball joint 73 is slidably connected to the sleeve 31, and the sliding direction is along the axis direction of the sleeve 31 to ensure that it can move forward and backward to drive the rotating disk 5 to rotate; specifically, the second ball joint 73 can be installed on the lever 61 or other structures slidably connected to the sleeve 31. Taking the installation on the lever 61 as an example, the third towing rope 53 is connected to the lever 61, and the fourth towing rope 54 is connected to the ball joint; the purpose of setting the second ball joint 73 is that even if the second ball joint 73 rotates following the sleeve 31 resulting in the fourth towing rope 54 rotating around itself and causing the towing rope to twist, but since the fourth towing rope 54 is straightened, the greater the degree of twisting, the greater the reaction force. Until the reaction force is sufficient to overcome the friction force of the second ball joint 73 itself, the fourth towing rope 54 will no longer twist.

[0129] Optionally, according to actual application, the strip-shaped through hole 35 can be opened on the handle base 32 and is located behind the second pull rod 43. The lever 61 is also located at this position. Only the third towing rope 53 can be connected to the ball joint, and the fourth towing rope 54 is connected to the lever 61; at the same time, in order to avoid the third towing rope 53 being affected by the forward and backward movement of the second pull rod 43, a positioning pin 55 can be provided on the sleeve 31 at a position close to the rotating disk 5. The positioning pin 55 is located on the axis of the sleeve 31. The third towing rope 53 passes through the positioning pin 55 and is then connected to the connecting pin 58.

[0130] Furthermore, for the turning position of the fourth towing rope 54, a fixed pulley can be provided. The fourth towing rope 54 bypasses the fixed pulley and is then connected to the third towing rope 53 to ensure that the fourth towing rope 54 is in a position collinear with the axes of the second pull rod 43 and the sleeve 31 and is in a straightened state.

[0131] Furthermore, regarding the position design of the rotation center of the rotating wheel 7, it can be set to be deviated from the rotation center of the second connecting rod 45 or the movable handle 62, or it can be coaxial with the rotation center of the second connecting rod 45 or the movable handle 62; if it is deviated from the design, a limited number of tests are required to determine the size design; if it is coaxially designed, the size of the installation space needs to be considered.

[0132] Furthermore, in order to ensure that the rotating wheel 7 will only rotate when the push rod 71 pushes the pushing pin 74, a damping friction can be set between the rotating wheel 7 and the corresponding rotating shaft, that is, a rubber pad can be added between the rotating wheel 7 and the rotating shaft around which the rotating wheel 7 rotates to increase the friction of the rotation, thereby preventing the push rod 72 from pushing the rotating wheel 7 to rotate on its own, thereby ensuring a stable position; or the axis of the push rod 72 is in the same straight line as the center of the rotating wheel 7, that is, the axis of the push rod 72 is along the radial direction of the rotating wheel; this arrangement ensures that there is no rotational torque when the rotating wheel 7 is acted upon by the push rod 72, thereby also ensuring a stable position.

[0133] It should be noted that, in the solution provided in this embodiment, since the movable handle 62 drives the clamping arm 2 to open and close through the connecting rod linkage mechanism, it will also drive the clamping mechanism to open and close; only when the clamping arm 2 is closed to a certain extent can the clamping needle 1 be installed. In this state, the other end of the suture needle 1 will be located outside the movable clamping block of the other clamping arm 2, and the clamping arm 2 will no longer be able to clamp the suture needle 1 in the next round of closing. Therefore, the lever 61 in the first embodiment of this embodiment can be introduced. When installing the needle, the lever 61 is used to open and close the clamping mechanism, which is independent of the movable handle 62 driving the clamping arm 2 to open and close, thereby effectively solving the above-mentioned technical problems.

[0134] For the second embodiment, the suture needle is a straight needle, taking the sliding connection between the second pull rod 43 and the movable handle 62 as an example, the entire working process is as follows:

[0135] A1: The medical staff operates the movable handle 62 with the right hand, so that the clamping arms 2 are moved away from each other, that is, the clamping arms 2 are in an open state, and are kept in the open state by tools or other medical staff; at this time, the push rod 71 is away from the push pin 74; the push rod 72 is pressed against the boss 78, the first clamping mechanism 24 on the first arm 21 is in a closed state, and the second clamping mechanism 25 on the second arm 22 is in an open state as an example of the initial state;

[0136] A2: The medical staff pushes the lever 61 backward with the left hand, the first clamping mechanism 24 opens, and the medical staff puts the suture needle 1 into the clamping position of the first clamping mechanism 24 by means of a tool, and aligns the suture needle 1; the lever 61 is released, the first clamping mechanism 24 closes the clamping of the suture needle 1, the first clamping mechanism 24 on the first arm 21 returns to the closed state, and the second clamping mechanism 25 on the second arm 22 returns to the open state, and the installation of the suture needle 1 is completed;

[0137] A3: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to approach each other. At the same time, the push rod 71 moves towards the push pin 74 and pushes the push pin 74. The push pin 74 drives the runner 7 to rotate, and the ejector rod 72 changes from being pressed against the boss 78 to being pressed against the notch 77. The first clamping mechanism 24 on the first arm 21 opens to release the suture needle 1, and the second clamping mechanism 25 on the second arm 22 gradually closes. During this process, since the clamping arms 2 approach each other, the suture needle 1 on the first arm 21 is fed into the second clamping mechanism 25 on the second arm 22. After moving into place, the second clamping mechanism 25 completely clamps the suture needle 1;

[0138] A4: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other. At the same time, the push rod 71 moves away from the push pin 74, and the second clamping mechanism 25 maintains the state of clamping the suture needle 1. Thus, the second clamping mechanism 25 drives the suture needle 1 through the human tissue;

[0139] A5: Adjust the needle insertion angle. The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to approach each other. When they reach the proper position, the second clamping mechanism 25 opens, and the first clamping mechanism 24 closes to clamp the suture needle 1;

[0140] A6; The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other. At the same time, the push rod 71 moves away from the push pin 74, and the first clamping mechanism 24 maintains the state of clamping the suture needle 1. Thus, the first clamping mechanism 24 drives the suture needle 1 through the human tissue;

[0141] A7: Repeat steps A3 - A6 to continuously suture the human tissue until the human tissue is completely sutured.

[0142] As can be known from the above, as Figure 10 、 Figure 17 shown, when the suture needle is a straight needle, the suture needle is clamped and replaced after the clamping arms 2 are closed.

[0143] For the third embodiment, when the suture needle is an arc-shaped needle, the push rod 71 in the second embodiment needs to be changed to a hook 70. The movement of the movable handle 62 is transmitted to the push pin 74 through the hook 70, pulling the push pin 74 to move and drive the runner 7 to rotate, prompting the ejector rod 72 to alternate between being pressed against the notch 77 and the boss 78; Further, as Figure 11As shown, in order to stably hook the hook 70 onto the next push pin 74, the front end of the hook 70 has an inclined surface 701. During the process of the hook 70 exiting the previous push pin 74 and hooking onto the next push pin 74, as the movable handle 62 or the second link 45 rotates and is constrained by the previous push pin 74, the hook 70 rotates accordingly, causing the front end of the hook 70 to face the next push pin 74. At the same time, due to the rotation of the movable handle 62 or the second link 45 driving the hook 70 to move towards the next push pin 74 until the inclined surface 701 at the front end abuts against the next push pin 74. Then, as the movable handle 62 or the second link 45 rotates, the inclined surface 701 of the hook 70 gradually slides past the lower surface of the push pin 74. After completely sliding past the push pin 74, the hook 70 is reset under the action of the torsion spring, enabling the hook 70 to stably hook onto the next push pin 74.

[0144] The entire working process is as follows:

[0145] A1: The right hand of the medical staff operates the movable handle 62 to make the clamping arms 2 move away from each other, that is, the clamping arms 2 are in the open state, and it is kept in the open state by tools or other medical staff; at this time, the hook 71 is away from the push pin 74; taking the state where the ejector rod 72 abuts against the boss 78 and the first clamping mechanism 24 on the first arm 21 is in the closed state and the second clamping mechanism 25 on the second arm 22 is in the open state as an example for illustration;

[0146] A2: The left hand of the medical staff flicks the lever 61 backward to open the first clamping mechanism 24. The medical staff places the suture needle 1 into the clamping position of the first clamping mechanism 24 through tools and positions the suture needle 1 correctly; then releases the lever 61, and the first clamping mechanism 24 closes to clamp the suture needle 1. The first clamping mechanism 24 on the first arm 21 returns to the closed state, and the second clamping mechanism 25 on the second arm 22 returns to the open state, completing the installation of the suture needle 1.

[0147] A3: Operate the movable handle 62 to make the clamping arms 2 move closer to each other. Use the finger to flick the sleeve to adjust the suture needle to an appropriate angle. The medical staff performs suture needle threading by rotating the sleeve and / or the handle base. After the suture needle threading is in place, the right hand of the medical staff operates the movable handle 62 to make the clamping arms 2 move away from each other. At the same time, the hook 71 moves towards the push pin 74 and pulls the push pin 74. The push pin 74 drives the runner 7 to rotate, and the ejector rod 72 changes from abutting against the boss 78 to abutting against the notch 77. The first clamping mechanism 24 on the first arm 21 opens to release the suture needle 1, and the second clamping mechanism 25 on the second arm 22 closes. During this process, since the clamping arms 2 move away from each other, the suture needle 1 on the first arm 21 enters into the second clamping mechanism 25 on the second arm 22. After entering in place, the second clamping mechanism 25 completely clamps the suture needle 1.

[0148] A4: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to approach each other. At the same time, the retractor 71 moves away from the pushing pin 74, and the second clamping mechanism 25 maintains the state of clamping the suture needle 1.

[0149] A5: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to approach each other, adjusting the needle insertion angle by rotating the sleeve, and performing suture needle threading by rotating the sleeve and / or the handle base. After the suture needle threading is in place, the medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to move away from each other. When the movement away is in place, the second clamping mechanism 25 is opened, and the first clamping mechanism 24 is closed to clamp the suture needle 1.

[0150] A6: The medical staff operates the movable handle 62 with the right hand, causing the clamping arms 2 to approach each other. At the same time, the retractor 71 moves away from the pushing pin 74, and the first clamping mechanism 24 maintains the state of clamping the suture needle 1. The rotating sleeve and / or the handle base causes the first clamping mechanism 24 to drive the suture needle 1 to completely penetrate the human tissue.

[0151] A7: Repeat steps A3 - A6 to continuously suture the human tissue until the human tissue is completely sutured.

[0152] Further, when the suture needle 1 is an arc-shaped needle, it can always be within the needle insertion openings of the two clamping arms 2.

[0153] Embodiment 3 realizes the replacement of the clamping position during suturing when the suture needle is an arc-shaped needle, that is, clamping is performed after the clamping arms 2 move away.

[0154] Example 6

[0155] Based on Embodiments 1 - 5, a further feasible implementation method is proposed.

[0156] A feasible implementation method. In order to ensure that when the suture needle 1 penetrates the human tissue, the clamping mechanism that clamps the suture needle 1 maintains the state of completely clamping the suture needle 1 to improve the stability of penetration; it can be achieved through the feature that "for the clamping mechanism, after clamping the suture needle 1, the traction rope between its slider 28 and the connecting pin 58 (for the first clamping mechanism 24, it is the first traction rope 51; for the second clamping mechanism 25, it is the second traction rope 52) is in a slack state", that is, to achieve the process of "when the rotating disk rotates, the clamping mechanism is delayed to open"; to achieve this process, the travel amount of each rotation of the rotating disk can be set to be greater than the stroke amount of the movable clamping block 261, that is, the movement range of the lever 61 or the ejector rod 72 is greater than the limit distance between the movable clamping block 261 and the fixed clamping block 262. Further, the maximum length of the lever 61 sliding in the strip-shaped through-hole 35 is greater than the limit distance between the movable clamping block 261 and the fixed clamping block 262, and the height difference between the notch 77 and the boss 78 is greater than the limit distance between the movable clamping block 261 and the fixed clamping block 262.

[0157] In a feasible implementation manner, during the process of the clamping mechanism of the clamping arm 2 being opened and closed by the movable handle 62, the clamping arm 2 still continues to approach or move away. For a straight suture needle, the clamping arm 2 still continues to approach, which may damage the tissue and change the position where the suture needle 1 is clamped; for an arc-shaped suture needle, the clamping arm 2 still continues to move away, which may cause a change in the spatial position of the needle insertion port, thereby resulting in the failure of clamping and replacing the suture needle. It may also occur that the clamping arm 2 is difficult to continue moving away due to the obstruction of the suture needle rod, resulting in clamping failure; the change in the position where the suture needle 1 is clamped is not conducive to continuous suture of the tissue. Therefore, preferably, the first pull rod 42 or the second pull rod 43 can be disconnected. As Figures 19 - 20 shown, taking the disconnection of the second pull rod 43 as an example, the second pull rod 43 is disconnected to form a front pull rod section 434 and a rear pull rod section 431. There are support members respectively supporting the front pull rod section 434 and the rear pull rod section 431 to ensure that the front pull rod section 434 and the rear pull rod section 431 maintain a state of being able to move only back and forth along the axis direction; a limit plate 433 is provided on the front pull rod section 434. After the front pull rod section 434 moves forward or backward in place, the limit plate 433 will abut against the support member supporting the front pull rod section 434 to limit the front pull rod section 434 from continuing to move forward or backward; a second spring 432 is provided between the front pull rod section 434 and the rear pull rod section 431. The two ends of the second spring are respectively connected to the front pull rod section and the rear pull rod section, so that the rear pull rod section 431 can move forward by compressing the second spring or move backward by stretching the second spring after the front pull rod section 434 stops moving; and the fourth traction rope 54 passes through the second spring 432 and the rear pull rod section 431 and is then connected to the ejector rod 72; the purpose of this setting is that after the front pull rod section 434 moves in place, the clamping arm 2 stops moving and no longer approaches or moves away. At this time, under the drive of the movable handle 62, the rear pull rod section 431 can still continue to move by pulling or compressing the second spring 432, and then drive the runner 7 to rotate through the push rod 71 or the hook 70, and further realize the stable and alternating clamping of the suture needle 1 (from being clamped by the first clamping mechanism 24 to being clamped by the second clamping mechanism 25, or from being clamped by the second clamping mechanism 25 to being clamped by the first clamping mechanism 24), so as to be able to delay and make the process of clamping and loosening the suture needle 1 independent of the process of the two clamping arms 2 approaching or moving away.

[0158] Specifically, for the case where the suture needle is a straight needle, the support for the front pull rod section 434 is located behind the limit plate 433, that is, it limits the limit of the backward movement of the front pull rod section 434, and further limits the degree of closing of the two clamping arms 2. At this time, the second spring 432 is a tension spring, enabling the rear pull rod section 431 to continue to move backward by stretching the second spring, and then further driving the runner 7 to rotate through the push rod 71, thereby further realizing the stable and alternating clamping of the suture needle 1. For the case where the suture needle is an arc needle, the support for the front pull rod section 434 is located in front of the limit plate 433, that is, it limits the limit of the forward movement of the front pull rod section 434, and further limits the degree of opening of the two clamping arms 2. At this time, the second spring 432 is a compression spring, enabling the rear pull rod section 431 to continue to move forward by compressing the second spring, and then further driving the runner 7 to rotate through the hook, thereby further realizing the stable and alternating clamping of the suture needle 1.

[0159] With the above structure, for a straight suture needle, continuous suturing of tissues is achieved, and the clamping arms are effectively prevented from pinching the patient's body tissues, thereby reducing secondary injuries; for an arc suture needle, the spatial position of the needle insertion opening is effectively ensured to be stable; these effects are all due to the provision of the limit plate 433 and the second spring 432 on the front pull rod section 434.

[0160] Furthermore, in actual operation, according to the different thicknesses of the tissues to be sutured, different degrees of approximation or separation of the clamping arms need to be adjusted. For this purpose, preferably, it can be achieved by adjusting the position of the support for the front pull rod section 434. The support for the front pull rod section 434 can be provided with a connecting rod passing through the sleeve, and a strip-shaped through hole is provided on the corresponding sleeve. The connecting rod is slidably connected to the strip-shaped through hole, and a locking buckle is provided on the connecting rod to fix the connecting rod to the sleeve. This implementation manner is not illustrated, but those skilled in the art can understand and make adaptive changes to the overall structure according to the description.

[0161] The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, as well as any new method or process step or any new combination disclosed.

Claims

1. A surgical needle holding device having two clamping mechanisms capable of alternately clamping a suture needle, characterized in that: The needle holding device comprises a shell, the front end of which is rotatably connected to two clamping arms (2), the two clamping arms (2) being connected to a movable handle (62) arranged on the shell via a connecting rod linkage mechanism, so that the two clamping arms (2) can be driven to move closer to or away from each other via the movable handle (62); a clamping mechanism for clamping a suture needle (1) is arranged on the clamping arm (2), and both clamping mechanisms are connected to a driving member via a rope linkage mechanism, so that the clamping mechanisms on different clamping arms (2) can be driven by the driving member to alternately clamp the suture needle (1).

2. The needle holding device according to claim 1, characterized in that: The shell comprises a handle seat (32) and a sleeve (31), the rear end of the sleeve (31) is rotatably connected to the handle seat (32), the clamping arm (2) is rotatably connected to the front end of the sleeve (31), and the rotation plane of the clamping arm (2) is perpendicular to the rotation plane of the sleeve (31).

3. The needle holding device according to claim 2, characterized in that: The connecting rod linkage mechanism comprises a first connecting rod (41), a first pulling rod (42) and a second pulling rod (43), the two ends of the first connecting rod (41) are respectively hinged to the rear end of the clamping arm (2) and the front end of the first pulling rod (42), the rear end of the first pulling rod (42) is connected to the front end of the second pulling rod (43) via a first ball joint (44), and the rear end of the second pulling rod (43) is movably connected to a movable handle (62), so that the movement of the movable handle (62) is transmitted to the clamping arm (2) via the second pulling rod (43), the first pulling rod (42) and the first connecting rod (41), and the clamping arms (2) move towards or away from each other.

4. The needle holding device according to claim 3, characterized in that: The movable handle (62) is rotatably connected to the handle base (32); One end of the movable handle (62) is provided with a slide groove (46), and the rear end of the second pull rod (43) is slidably connected to the slide groove (46); Alternatively, the linkage mechanism further comprises a second connecting rod (45), both ends of the second connecting rod (45) are provided with sliding grooves (46), and the middle portion of the second connecting rod (45) is rotatably connected to the handle seat (32), the rear end of the second pull rod (43) is slidably connected to the sliding groove (46) at one end of the second connecting rod (45), and one end of the movable handle (62) is slidably connected to the sliding groove (46) at the other end of the second connecting rod (45).

5. The needle holding device according to any one of claims 2 to 4, characterized in that: The clamping mechanism comprises a countersunk sliding hole (211), the depth direction of the countersunk sliding hole (211) is along the length direction of the clamping arm (2), a slider (28) is slidably connected in the countersunk sliding hole (211), a fixed clamping block (262) is fixed at the hole mouth of the countersunk sliding hole (211), and a first compression spring (29) is arranged between the fixed clamping block (262) and the slider (28); a sliding connecting rod (27) is fixed on the slider (28), and the sliding connecting rod (27) passes through the fixed clamping block (262) and is fixedly connected to a movable clamping block (261); the movable clamping block (261) cooperates with the fixed clamping block (262) to squeeze and clamp the sewing needle (1) under the action of the first compression spring (29); at the same time, the slider (28) is connected to the rope linkage mechanism, and the driving member is driven by the rope linkage mechanism to overcome the elastic force of the first compression spring (29), so that the sewing needle (1) is no longer squeezed and clamped by the movable clamping block (261).

6. The needle holding device according to claim 5, characterized in that: The rope linkage mechanism comprises a rotating disk (5) rotatably connected to the sleeve (31), the rotating surface of the rotating disk (5) is parallel to the axial direction of the sleeve (31), and a connecting nail (58) is arranged on the outer side surface of the rotating disk (5), and there are three traction ropes connected to the connecting nail (58); one is a first traction rope (51), one end of which is connected to the connecting nail (58), and the other end of which is connected to one of the sliders (28) after passing through a fixed pulley fixed to a fixed clamping block (262); the second is a second traction rope (52), one end of which is passed through the circumferential outer side of the rotating disk (5) The first end of the first tension spring (57) is connected to the connecting nail (58) at the rear, and the other end is connected to another slider (28) after passing through a fixed pulley fixed on a fixed clamp (262); the third is a third traction rope (53), one end of which is connected to the connecting nail (58) and the other end is connected to the driving member; at the same time, a first tension spring (57) is arranged between the connecting nail (58) and the wall of the sleeve (31), and the two ends of the first tension spring (57) are respectively connected to the connecting nail (58) and the wall of the sleeve (31), and the tension direction of the first tension spring (57) matches the rotation direction of the rotating disk (5).

7. The needle holding device according to claim 6, characterized in that: An annular groove (56) is provided on the outer side of the rotating disk (5), and the three traction ropes are all located in the annular groove (56).

8. The needle holding device according to claim 6, characterized in that: The driving member is a lever (61), a strip through hole (35) is provided on the sleeve (31), the length direction of the strip through hole (35) is parallel to the axial direction of the sleeve (31), and the lever (61) passes through the strip through hole (35) and is slidably connected to the strip through hole (35); or / and the driving member is a fourth traction rope (54) in the rope linkage mechanism, one end of the fourth traction rope (54) is connected to the third traction rope (53), and the other end of the fourth traction rope (54) is connected to a push rod (72); a countersunk groove (76) is provided at the rear end of the handle seat (32), the push rod (72) is installed in the countersunk groove (76) and is slidably connected to the countersunk groove (76), and a second compression spring (75) is provided between the push rod (72) and the countersunk groove (76); the sliding of the push rod (72) A rotating wheel (7) is arranged on the travel, and a plurality of notches (77) matching the size of the push rod (72) are evenly arranged on the circumference of the rotating wheel (7), and the push rod (72) can extend into the notches (77), and there are bosses (78) between adjacent notches (77). A plurality of pushing pins (74) are evenly arranged on the rotating wheel (7); a push rod (71) or a pull hook (70) is arranged between the pushing pin (74) and the movable handle (62), and the push rod (71) or the pull hook (70) is directly or indirectly connected to the movable handle (62), and the movement of the movable handle (62) is transmitted to the pushing pin (74) through the push rod (71) or the pull hook (70), and the movement of the pushing pin (74) drives the rotating wheel (7) to rotate, so as to cause the push rod (72) to alternate between pressing against the notch (77) and pressing against the boss (78).

9. The needle holding device according to claim 8, characterized in that: The maximum sliding length of the lever (61) in the strip-shaped through hole (35) is greater than the limit distance between the movable clamping block (261) and the fixed clamping block (262), and the height difference between the notch (77) and the boss (78) is greater than the limit distance between the movable clamping block (261) and the fixed clamping block (262); Or / and the first pull rod (42) or the second pull rod (43) is composed of a front pull rod section (434) and a rear pull rod section (431), and there is a support member that supports the front pull rod section (434) and the rear pull rod section (431) respectively; a limit plate (433) is arranged on the front pull rod section (434), and the limit plate (433) will abut against the support member supporting the front pull rod section (434) after the front pull rod section (434) moves forward or backward to a position; a second spring (432) is arranged between the front pull rod section (434) and the rear pull rod section (431), and the fourth traction rope (54) passes through the second spring (432) and the rear pull rod section (431) and is connected to the top rod (72).

10. The needle holding device according to claim 8, characterized in that: The fourth traction rope (54) is connected to the third traction rope (53) via a second ball joint (73), and the second ball joint (73) is slidably connected to the sleeve (31), and the sliding direction is along the axial direction of the sleeve (31).

Images