A needle holder for surgery having two clamping mechanisms capable of alternately clamping a suture needle

Abstract

The application discloses a needle holding device with two clamping mechanisms capable of alternately clamping a suture needle, and relates to the field of medical devices, which is used in cooperation with a suture needle with pointed ends; the needle holding device has a shell, two clamping arms are rotatably connected to the front end of the shell, the two clamping arms are connected to a movable handle arranged on the shell through a connecting rod linkage mechanism, so that the two clamping arms are driven to move closer to or away from each other through the movable handle; a clamping mechanism for clamping the suture needle is arranged on the clamping arm, and the two clamping mechanisms are connected with a driving member through a rope linkage mechanism, so that the clamping mechanisms on different clamping arms are driven to alternately clamp the suture needle through the driving member. The application is suitable for various suture scenes, and medical personnel can easily and reliably realize various operations on the suture needle through single-handed operation of the device, thereby reducing operation steps, reducing operation difficulty, improving operation comfort and efficiency, and reducing joint damage of medical personnel.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a surgical needle holding device having two clamping mechanisms that can alternately clamp suture needles. Background Technology

[0002] During surgery, suturing of human tissue is usually required. This suturing operation requires two needle holders to work together, and this process is also known as needle-holding suturing. The specific process is as follows:

[0003] Insert the suture needle into the surgical area. Insert one needle holder (needle holder a) into the surgical area and, with the assistance of the other needle holder (needle holder b), clamp the tail end of the suture needle. Rotate the handle of the needle holder to readjust the needle insertion angle until it is at a suitable angle. Holder a clamps the needle and thread it through the tissue at the suture site. After the front end of the needle passes through the tissue, the other needle holder (needle holder b) clamps the front end of the needle while simultaneously releasing needle holder a. Needle holders a and b work together to pull out the suture needle. Needle holder a continues to clamp the tail end of the needle, adjusting the needle insertion angle. Repeat the above steps to continue suturing until the human tissue is completely sutured.

[0004] As can be seen from the above suturing process, the entire operation requires the cooperation of two needle holders, which is quite cumbersome and difficult. Especially in the suturing process of laparoscopic surgery, the needle holders used in abdominal surgery are longer and the operating space is smaller, making it more difficult to clamp, suture, pass, and adjust the angle of the needle. This greatly increases the difficulty of suturing human tissue and reduces suturing efficiency.

[0005] Existing needle holders require adjusting the suture angle by rotating the handle. This sometimes necessitates significant rotation of the wrist, elbow, and shoulder joints to achieve the correct angle, making the suturing process uncomfortable, cumbersome, and inflexible. Excessive wrist, elbow, and shoulder joint movement can also cause injury to these joints. Furthermore, US2007 / 0060930A1 discloses a suturing device, system, and method that allows needle holders to alternately clamp the needle. However, this technical solution has the following shortcomings: 1. The length of tissue that can be sutured during laparoscopic minimally invasive surgery is relatively short. This is because the distance between the two clamps in this suturing device determines the maximum length of tissue that can be sutured. In laparoscopic minimally invasive surgery, the commonly used trocar channel diameters are 10mm and 5mm. For this suturing device to pass through the trocar channel, the overall diameter of the two clamps together cannot exceed 10mm or 5mm. Subtracting the clamp thickness, the distance between the two clamps is much less than 10mm or 5mm, thus limiting the amount of tissue that can be sutured. 1. The maximum length of the needle is much less than 10mm or 5mm; 2. The needle insertion angle and suturing angle can only be adjusted by rotating the entire suturing device. Sometimes, it is necessary to rotate the wrist, elbow and shoulder joints significantly to adjust the needle insertion angle and suturing angle, making the suturing process uncomfortable and difficult, and the suturing operation is not dexterous. The surgeon may also cause damage to these joints due to excessive movement of the wrist, elbow and shoulder joints; 3. The clamp holds the needle in an open clamping manner. When suturing tissue, due to the resistance of suturing, the needle may shift to both sides of the opening, causing the position of the needle and / or the clamp holding the needle to change, affecting the suturing quality and making continuous suturing difficult.

[0006] Therefore, a needle-holding device with good practical value is proposed to solve the above problems, thereby reducing the difficulty of suturing operations, improving the comfort and efficiency of operations, and reducing joint damage to surgeons during operations. Summary of the Invention

[0007] The purpose of this invention is to address the aforementioned problems by providing a surgical needle-holding device with two clamping mechanisms that can alternately clamp the suture needle. This device allows for flexible adjustment of the suture needle angle, enables suturing of tissues over a relatively long range, provides reliable clamping, and can be miniaturized for use in laparoscopic minimally invasive surgery. Furthermore, it allows for single-handed operation of the needle-holding device, enabling the clamping, suturing, transfer, and angle adjustment of the suture needle, excluding the needle loading and unloading steps. This reduces the number of steps involved in suturing human tissue, lowers the operational difficulty, improves operational comfort, dexterity, and efficiency, and reduces injuries to the surgical personnel's wrist, elbow, and shoulder joints.

[0008] The technical solution adopted in this invention is as follows: a surgical needle holding device with two clamping mechanisms that can alternately clamp a suture needle, used in conjunction with a suture needle, both ends of which are pointed, and the middle of the suture needle has a connection point for connecting the suture thread; the needle holding 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 set on the housing through a linkage mechanism, so that the movable handle drives the two clamping arms to move closer or further apart; the clamping arms are provided with clamping mechanisms for clamping the suture needle, and both clamping mechanisms are connected to a driving member through a rope linkage mechanism, so that the driving member drives the clamping mechanisms on different clamping arms to alternately clamp the suture needle.

[0009] Furthermore, the housing has a handle seat and a sleeve, the rear end of the sleeve is rotatably connected to the handle seat, the clamping arm is rotatably connected to the front end of the sleeve, and the plane of rotation of the clamping arm is perpendicular to the plane of rotation of the sleeve.

[0010] Furthermore, the linkage mechanism includes a first link, a first pull rod, and a second pull rod. The two ends of the first link are hinged to the rear end of the clamping arm and the front end of the first pull rod, respectively. The rear end of the first pull rod is connected to the front end of the second pull rod through a first ball joint. 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 arms move closer or further apart.

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

[0012] One end of the movable handle is provided with a sliding groove, and the rear end of the second pull rod is slidably connected to the sliding groove;

[0013] Alternatively, the linkage mechanism may also have a second link with grooves at both ends, and the middle part of the second link is rotatably connected to the handle seat. The rear end of the second pull rod is slidably connected to the groove at one end of the second link, and one end of the movable handle is slidably connected to the groove at the other end of the second link.

[0014] Furthermore, the clamping mechanism includes a countersunk sliding hole, the depth of which is along the length of the clamping arm. A slider is slidably connected inside the countersunk sliding hole, and a fixed clamping block is fixed at the opening of the countersunk sliding hole. A first compression spring is provided between the fixed clamping block and the slider. A sliding connecting rod is fixed on the slider, and a movable clamping block is fixedly connected after the sliding connecting rod passes through the fixed clamping block. The movable clamping block, in conjunction with the fixed clamping block, squeezes and clamps the sewing needle under the action of the first compression spring. At the same time, the slider is connected to a rope linkage mechanism, and the driving component is driven by the rope linkage mechanism to overcome the elastic force of the first compression spring, so that the sewing needle is no longer squeezed by the movable clamping block.

[0015] Furthermore, the rope linkage mechanism includes a rotating disk rotatably connected to the sleeve. The rotating surface of the rotating disk is parallel to the axial direction of the sleeve. A connecting pin is provided on the outer side of the rotating disk, and three traction ropes are connected to the connecting pin. The first traction rope is connected to the connecting pin at one end and the other end passes over a fixed pulley fixed on the fixed clamp block and connects to one of the sliders. The second traction rope is connected to the connecting pin at one end and passes over the circumferential outer side of the rotating disk at the other end and connects to another slider at the other end. The third traction rope is connected to the connecting pin at one end and the other end is connected to the driving component. 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 connected to the connecting pin and the sleeve wall respectively, and the tension direction of the first tension spring matches the rotation direction of the rotating disk.

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

[0017] Furthermore, the driving component is a lever, and there is a strip-shaped through hole on the sleeve. The length direction of the strip-shaped through hole is parallel to the axial direction of the sleeve. The lever passes through the strip-shaped through hole and is slidably connected to the strip-shaped through hole. The driving component may be the fourth traction rope in a 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 groove is provided at the rear end of the handle seat. The push rod is installed in the countersunk groove and slidably connected to the countersunk groove. A second compression spring is provided between the push rod and the countersunk groove. A rotating wheel is provided on the sliding stroke of the push rod. Multiple notches matching the size of the push rod are evenly arranged circumferentially on the rotating wheel. The push rod can extend into the notches. There are bosses between adjacent notches. Multiple push pins are evenly arranged on the rotating wheel. A push rod or pull hook is provided between the push pin and the movable handle. The push rod or pull 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 pull hook. The movement of the push pin causes the rotating wheel to rotate, causing the push rod to alternate between pressing against the notch and pressing against the boss.

[0018] Furthermore, the maximum length of the lever sliding within 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] Furthermore, the first or second pull rod consists of a front pull rod section and a rear pull rod section, with support members supporting the front and rear pull rod sections respectively. A limit plate is provided on the front pull rod section, which abuts against the support member supporting the front pull rod section after the front pull rod section moves forward or backward a certain distance. A second spring is provided between the front and rear pull rod sections, with both ends of the second spring connected to the front and rear pull rod sections respectively, 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. The fourth traction rope passes through the second spring and the rear pull rod section and is connected to the top rod.

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

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

[0022] 1. This invention features clamping mechanisms on both clamping arms. During suturing human tissue, the two clamping mechanisms alternately clamp the suture needle, allowing the needle to shuttle back and forth between the two clamping arms. Both ends of the suture needle are pointed, enabling suturing of the human tissue. This allows medical personnel to effectively suture human tissue without using multiple needle holders to alternately clamp the needle. In other words, this invention allows medical personnel to perform needle clamping, suturing, transfer, and angle adjustment with a single hand, except for the needle loading and unloading steps. It eliminates the need for another hand to operate another needle holder to perform these actions, thereby reducing the number of steps involved in suturing human tissue, lowering the operational difficulty and space requirements for suturing, improving the comfort and dexterity of suturing, and ultimately increasing the efficiency of suturing.

[0023] 2. This invention, through the rotatable connection between the rear end of the sleeve and the handle seat, allows medical personnel to adjust the suture needle to the appropriate suturing angle by rotating the sleeve when suturing human tissue. This allows the medical personnel to maintain a more comfortable hand position during the suturing operation, avoiding the need for medical personnel to adjust the suturing angle and perform the suturing operation by rotating the wrist, elbow, and shoulder joints significantly. This reduces joint damage caused by excessive movement of the wrist, elbow, and shoulder joints, and makes the suturing operation more convenient, simple, comfortable, and dexterous.

[0024] 3. This invention achieves mutual approach and distance through the rotation of two clamping arms. Since the distance between the two clamping arms when they are far apart is the length of human tissue that can be sutured, the suture length required for different surgeries can be met by setting different lengths of the clamping arms and different angles of mutual distance. In other words, this setting can achieve a large range of tissue lengths that can be sutured, that is, it can achieve suture of both short and long tissues. At the same time, the two clamping arms can be miniaturized. When the two clamping arms are close together, the miniaturized clamping arms can even pass through a 5mm diameter puncture card channel. Therefore, the needle holding device of this invention can be effectively applied to laparoscopic minimally invasive surgery.

[0025] 4. The present invention uses a combination of fixed and movable clamping blocks to surround and hold the suture needle, which can make the clamping more stable. That is, when the suture needle is suturing human tissue, the position of the suture needle and the position of the clamping needle will not shift due to suturing resistance, which is beneficial to ensuring suturing quality and continuous suturing. Attached Figure Description

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

[0027] Figure 1 This is a schematic diagram of the first structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the second structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the third structure of the present invention;

[0030] Figure 4 for Figure 1 Enlarged view of point A in the middle;

[0031] Figure 5 for Figure 4 Enlarged view of point E in the middle;

[0032] Figure 6 for Figure 1 Enlarged view of point B in the middle;

[0033] Figure 7 A schematic diagram showing the structure of the traction rope passing through the positioning pin;

[0034] Figure 8 for Figure 1 Enlarged view of point C in the middle;

[0035] Figure 9 When the needle is a straight needle, Figure 3 Enlarged view of point D in the middle;

[0036] Figure 10 When the needle is a straight needle, Figure 9Enlarged view of point F in the middle;

[0037] Figure 11 When the needle is a curved needle, Figure 9 Enlarged diagram of the hook replacing the push rod at point F;

[0038] Figure 12 This is a schematic diagram showing the location distribution of Guangkou;

[0039] Figure 13 This is a schematic diagram showing the distribution of the wide opening positions on the rotation axis;

[0040] Figure 14 This is a cross-sectional view of the rotating disk.

[0041] Figure 15 This is a schematic diagram of the cross-sectional structure of the cavity;

[0042] Figure 16 This is a schematic diagram showing the position distribution of the levers;

[0043] Figure 17 A diagram illustrating the transfer process when using a straight needle for sewing;

[0044] Figure 18 The diagram shows the transfer process when the needle used for sewing is a curved needle.

[0045] Figure 19 This is a schematic diagram showing the structure with a limit plate and a second spring.

[0046] Figure 20 for Figure 19 Enlarged view of point G in the middle;

[0047] In the diagram, the markings are: 1-sewing needle; 2-clamping arm; 21-first arm; 211-countersunken sliding hole; 231-wide opening; 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 seat; 33-pulling block; 34-cavity; 35-strip 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; 4 4-First ball joint; 45-Second connecting rod; 46-Slide groove; 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-Pulley; 62-Modible handle; 63-Limiting block; 7-Rotating wheel; 70-Hook; 701-Inclined surface; 71-Push rod; 711-Notch; 712-Notch; 72-Push rod; 73-Second ball joint; 74-Push pin; 75-Second compression spring; 76-Counterhead groove; 77-Notch; 78-Boss; 79-Torsion spring. Detailed Implementation

[0048] In the description of this specification, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing this specification and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this specification.

[0049] Furthermore, the use of terms such as "horizontal" and "vertical" in this specification does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply 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 tilted.

[0050] In the description of this specification, it should also be noted that, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” should be interpreted broadly. For example, a link can be a fixed link, a detachable link, or an integral link; it can be a mechanical link or an electrical link; it can be a direct link or an indirect link through an intermediate medium; it can be a connection within two components.

[0051] Example 1

[0052] like Figures 1-20 As shown, a surgical needle-holding device with two clamping mechanisms that can alternately clamp a suture needle is used in conjunction with a suture needle 1. Both ends of the suture needle 1 are pointed, and the middle of the suture needle 1 has a connection point for connecting the suture thread. This needle-holding device can be used in conjunction with the applicant's application filed on the same day, "A Medical Suture Needle with a Hidden Knot Structure," to complete tissue suturing. Specifically, the needle-holding device has a housing, and two clamping arms 2 are rotatably connected to the front end of the housing. That is, the middle portions of the two clamping arms 2 are rotatably connected around the same rotating axis 23, which is fixed to the housing. It should be noted that... Since the two clamping arms 2 are arranged side by side, some material can extend along the side-by-side direction on the clamping arms 2, so that the facing surfaces of the two clamping arms 2 can touch when they come together; the rear ends of the two clamping arms 2 are connected to the movable handle 62 set on the housing through a linkage mechanism, so that the two clamping arms 2 can be driven to move closer or further apart by the movable handle 62; the clamping arms 2 are provided with clamping mechanisms for clamping the sewing needle 1, and both clamping mechanisms are connected to a driving component through a rope linkage mechanism, so that the driving component drives the clamping mechanisms on different clamping arms 2 to alternately clamp the sewing needle 1.

[0053] For ease of explanation, the two clamping arms 2 are referred to as the first arm 21 and the second arm 22, respectively, and the corresponding clamping mechanisms are the first clamping mechanism 24 and the second clamping mechanism 25, respectively. When suturing human tissue begins, the first arm 21 and the second arm 22 are in a separated state. First, the first clamping mechanism 24 clamps the needle 1 on the first arm 21. After adjusting the needle insertion angle, the movable handle is operated so that the first arm 21 and the second arm 22 move closer together. During the process of moving closer together, the needle 1 will pass through the human tissue and enter the clamping range of the second clamping mechanism 25. Then, the driving component drives the second clamping mechanism 25 on the second arm 22 to clamp the needle 1, while the first clamping mechanism 24 releases the needle 1. The movable handle is operated so that the first arm 21 and the second arm 22 move away from each other, so that the second clamping mechanism 25 carries the needle 1 through the human tissue. The needle insertion position is adjusted again, and the second arm 22 clamps the needle as the first arm 21. The above steps are repeated to continuously suture the human tissue until the human tissue to be sutured is completely sutured.

[0054] As can be seen, the solution provided in this embodiment allows medical personnel to perform the clamping, suturing, transfer, and angle adjustment of the suture needle by operating the needle holding device with one hand, except for the needle loading and unloading steps. This eliminates the need for the other hand to operate another needle holder to perform the clamping, suturing, transfer, and angle adjustment of the suture needle, thereby reducing the number of steps in suturing human tissue, lowering the difficulty of operation and the space requirements for suturing tissue, improving the comfort and dexterity of suturing, and thus improving the efficiency of suturing tissue.

[0055] Example 2

[0056] Based on Example 1, further feasible implementation methods are proposed.

[0057] In one feasible implementation, the housing has a handle seat 32 and a sleeve 31. The rear end of the sleeve 31 is rotatably connected to the handle seat 32, and the clamping arm 2 is rotatably connected to the front end of the sleeve 31. The plane in which the clamping arm 2 rotates around the rotation axis 23 is perpendicular to the plane in which 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 cause the clamping arm 2 to rotate along with the sleeve 31. The needle insertion angle and suturing angle of the needle 1 can be adjusted by rotating the sleeve 31. At the same time, the surface of the clamping arm is designed to be blunt, so that even if tangling occurs, the clamping arm 2 can easily get out of the tangled thread.

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

[0059] It should be noted that the arrangement of the tether linkage mechanism was specifically designed, as detailed below, to ensure that the tether linkage mechanism does not interfere with the rotation of the cannula. This allows medical personnel to adjust the suture needle to the appropriate suturing angle by rotating the cannula when suturing human tissue. This allows the medical personnel to maintain a more comfortable hand position during the suturing operation, avoiding the need for medical personnel to adjust the suturing angle and perform suturing operations by rotating their wrist, elbow, and shoulder joints significantly. This reduces joint injuries caused by excessive movement of the wrist, elbow, and shoulder joints, and makes the suturing operation more convenient, simple, comfortable, and dexterous.

[0060] Example 3

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

[0062] Regarding the method of rotatably connecting the rear end of the sleeve 31 to the handle seat 32, the rear end of the sleeve 31 can be rotatably connected to the inner wall or the outer wall of the handle seat 32.

[0063] Regarding the linkage mechanism, the 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 hinged to the rear end of the clamping arm 2 and the front end of the first pull rod 42, respectively. 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 first ball joint 44 is positioned on the axis of the sleeve 31 to ensure that the first link 41 and the first pull rod 42 can rotate with the sleeve 31 and does not affect the transmission of the forward and backward movement of the second pull rod 43 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 arm 2 moves closer or further apart.

[0064] Specifically, the first connecting rod 41 has two parts. The first connecting rod 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 connecting rod 41 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. Conversely, the first pull rod 42 moves forward along the sleeve 31, and the two clamping arms 2 rotate and move away from each other. The forward and backward movement of the first pull rod 42 is achieved by the movable handle 62 driving the second pull rod 43 to move forward and backward, and the second pull rod 43 carries the first pull rod 42 to move forward and backward.

[0065] For the non-rotating connection between the rear end of the sleeve 31 and the handle seat 32, the first ball joint 44 can be omitted, and the first pull rod 42 and the second pull rod 43 can be directly fixed as a whole.

[0066] Furthermore, given that the movable handle 62 is normally rotatably connected to the handle base 32, this embodiment proposes the following implementation methods to address the technical characteristics of how the movable handle 62 drives the second pull rod 43 to move back and forth.

[0067] like Figure 1 As shown, in the first embodiment, 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; that is, when the movable handle 62 rotates clockwise, the second pull rod 43 constrained by the slide groove 46 moves backward; when the movable handle 62 rotates counterclockwise, the second pull rod 43 constrained by the slide groove 46 moves forward.

[0068] like Figure 2 and Figure 3As shown, in the second embodiment, the linkage mechanism further includes a second connecting rod 45, with grooves 46 at both ends. The middle part 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 groove 46 at one end of the second connecting rod 45, and one end of the movable handle 62 is slidably connected to the 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 groove 46, thereby causing the second pull rod 43 under the constraint of the groove 46 to move forward; when the movable handle 62 rotates counterclockwise, the second connecting rod 45 rotates clockwise under the constraint of the groove 46, thereby causing the second pull rod 43 under the constraint of the groove 46 to move backward.

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

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

[0071] Example 4

[0072] Based on any one of the implementation methods in Examples 1-3, further feasible specific implementation methods are proposed.

[0073] like Figure 4 , Figure 5 As shown, regarding the clamping mechanism, the clamping mechanism includes a countersunk sliding hole 211 provided on the clamping arm 2. 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 inside the countersunk sliding hole 211. A fixed clamping block 262 is fixed at the opening of the countersunk 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. After passing through the fixed clamping block 262, the sliding connecting rod 27 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 a rope linkage mechanism. The driving component 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 by the movable clamping block 261.

[0074] As can be seen from the structural description of the clamping mechanism above, the clamping mechanism disclosed in this embodiment is a surround clamping (the surfaces of the fixed clamping block 262 and the movable clamping block 261 that cooperate to clamp the needle can be set as arc-shaped surfaces that match the radial cross-section of the needle, thereby realizing the surround clamping of the needle). This is significantly different from the needle clamping method disclosed in the prior art US2007 / 0060930A1 (open clamping, where the needle is prone to slipping towards the open position when clamped). The surround clamping disclosed in this embodiment has higher stability, that is, when the needle sutures human tissue, the position of the needle and the position of the clamped needle will not shift due to suturing resistance.

[0075] It should be noted that the entry point for the needle into the clamping mechanism is called the needle inlet. For straight needles, the needle inlets can be arranged facing each other, with the normal vector of the needle inlet lying within the arc-shaped movement plane of the clamping arm 2. That is, the needle lies within the arc-shaped movement plane of the clamping arm 2, enabling the straight needle to enter and exit the clamping mechanism. Preferably, there are two sliding connecting rods 27. Figures 1-4 For suture needles with an arc shape, the normal vector of its entry point should be set perpendicular to the plane of the arc-shaped movement of the clamping arm. That is, the needle should be inserted by lateral translation, with the needle's plane perpendicular to the plane of the arc-shaped movement of the clamping arm. More specifically, relative to... Figure 4 The straight needle insertion structure is characterized by having only one sliding link 27.

[0076] Specifically, the driving component opens the clamping mechanism of one of the clamping arms 2 (the first clamping mechanism 24 on the first arm 21) through the driving rope linkage mechanism, while the clamping mechanism of the other clamping arm 2 (the second clamping mechanism 25 on the second arm 22) closes. After the needle is placed into the first clamping mechanism 24 and the position of the needle is adjusted, the driving component resets, the first clamping mechanism 24 on the first arm 21 closes to clamp the needle, and the second clamping mechanism 25 on the second arm 22 opens.

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

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

[0079] Closed: When the traction rope (such as the second traction rope 52 or the first traction rope 51 below) between the rope linkage mechanism and the slider 28 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, through the sliding link 27, brings the movable clamping block 261 close to the fixed clamping block 262, thereby closing the clamping mechanism.

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

[0081] Further design options, as mentioned above, include the movable clamping block 261 moving along the length of the clamping arm 2. A protective sleeve can be fitted over the distal end of the clamping arm, allowing the movable clamping block 261 to slide within the protective sleeve. This prevents the movable clamping block 261 from moving away from the fixed clamping block 262 and causing impact damage to the human tissue. Furthermore, the protective sleeve also has a notch for the suture needle to pass through. The protective sleeve is set on the fixed clamping block 262 or the clamping arm 2. The protective sleeve is made of a rigid material and can hold the human tissue in place, thus preventing impact damage to the human tissue when the movable clamping block 261 moves and improving the stability of the human tissue's position during suturing.

[0082] Furthermore, such as Figure 1-3 , Figure 6 , Figure 7 , Figure 8As shown, 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 axial direction of the sleeve 31. A connecting pin 58 is provided on the outer side of the rotating disk 5, and three traction ropes are connected to the connecting pin 58. The first traction rope 51 has one end wrapped around the circumferential outer side of the rotating disk 5 and connected to the connecting pin 58, and the other end wrapped around the fixed pulley fixed on the fixed clamping block 262 and connected to one of the sliders 28 (preferably the slider 28 in the clamping wall on the same side). The second traction rope 52 has one end wrapped around the circumferential outer side of the rotating disk 5 and connected to the connecting pin 58, and the other end wrapped around the fixed pulley fixed on the fixed clamping block 262 and connected to one of the sliders 28. On another slider 28; the first traction rope 51 and the second traction rope 52 are located on both sides of the connecting nail 58 respectively; the third is the third traction rope 53, one end of which passes around the outer circumferential side of the rotating disk 5 and is connected to the connecting nail 58, and the other end is connected to the driving component; at the same time, a first tension spring 57 is provided between the connecting nail 58 and the wall of the sleeve 31, the two ends of the first tension spring 57 are connected to the connecting nail 58 and the wall of the sleeve 31 respectively, the tension 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; the clamping mechanism on the two clamping arms 2 is controlled to open and close alternately through the rope linkage mechanism, and the specific process is as follows.

[0083] The driving component moves backward with the third traction rope 53, the rotating disk 5 rotates backward, pulling the first traction rope 51 and simultaneously releasing the second traction rope 52. The first tension spring 57 has elastic potential energy. The first traction rope 51 pulls the slider 28 on the first clamping mechanism 24. The slider 28, through the sliding link 27, moves the movable clamping block 261 away from the fixed clamping block 262, thereby opening 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 its elastic force, and the slider 28, through the sliding link 27, moves the movable clamping block 261 closer to the fixed clamping block 262, thereby closing the second clamping mechanism 25. Conversely, the driving component 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 forward, pulling the second traction rope 52, and simultaneously releasing the first traction rope 51, thereby closing the first clamping mechanism 24 and opening the second clamping mechanism 25.

[0084] Furthermore, 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. The position of the traction ropes is restricted by the annular groove 56 to prevent the traction ropes from detaching and causing traction failure. In addition, the amount of movement of the traction ropes can be effectively reflected in the linear path of the rotating disk 5, which facilitates the size design.

[0085] It is feasible to have two annular grooves 56, with the two annular grooves 56 parallel to each other. The second traction rope 52 and the third traction rope 53 are placed in the two annular grooves 56 respectively, so that the second traction rope 52 and the third traction rope 53 are independent of each other, avoiding mutual compression 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 ensure that the rotating disk 5 has sufficient size so that the clamping mechanism can open to a sufficient size, the sleeve 31 can be provided with a cavity 34 to accommodate the installation of the rotating disk 5.

[0087] Furthermore, a lever 33 can be provided on the outer wall of the cavity 34 to facilitate medical personnel to rotate the cannula 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. Therefore, the first pull rod 42 can be set with multiple bends to avoid the position of the rotating disk 5 and avoid spatial interference.

[0089] Preferably, in order to prevent the traction rope from exhibiting an arc-shaped pull when pulling the slider 28, and to minimize the change in the state of the traction rope between the slider 28 and the connecting pin 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. After passing through the rotating shaft 23 rotatably connected to the clamping arm 2, it passes through the clamping arm 2 along the center line of the clamping arm 2, goes around the fixed pulley fixed on the fixed clamping block 262, and then connects to the slider 28.

[0090] Therefore, to avoid the first pull rod 42 and the drive unit moving back and forth and affecting the traction rope, positioning pins 55 can be provided between the first pull rod 42 and the rotating disk 5, and between the drive unit 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, which are connected to the connecting pins 58 on the rotating disk 5, pass through the positioning pins 55 and then through the first pull rod 42 along the axis of the sleeve 31 or the axis of the first pull rod 42. The third traction rope 53, which is connected to the connecting pins 58 on the rotating disk 5, passes through the positioning pins 55 and then connects to the drive unit along the axis of the sleeve 31. This design ensures that the spatial positions of the tangent points of the first traction rope 51, the second traction rope 52, and the third traction rope 53 to the rotating disk 5 remain unchanged.

[0091] Furthermore, to further reflect the motion of the three traction ropes in the linear path of the rotating disk 5, the positions of the two positioning pins 55 and the dimensions of the rotating disk 5 can be adjusted so 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 located between the tangent points of the first traction rope 51 and the third traction rope 51 on the rotating disk 5. This ensures that the three traction ropes are tightly attached to the rotating disk 5, and the motion of the three traction ropes is reflected in the linear path of the rotating disk 5. In this way, the motion of the three traction ropes is consistent, thereby enabling the clamping arm 2 to clamp and release the suture needle simultaneously.

[0092] Furthermore, such as Figures 12-13 As shown, in order to prevent the traction rope from being pushed onto the rotating shaft 23 connected to the clamping arm 2 when the clamping arm 2 rotates, a wide opening 231 can be provided at the position where the traction rope enters on the rotating arm and the position where the traction rope exits on the rotating shaft 23. The angle of the wide opening 231 is more than twice the angle of rotation of the rotating arm, which can solve this technical problem.

[0093] It should be noted that all the components through which the traction rope passes can be perforated to allow the traction rope to pass through effectively. The location of the perforation needs to be determined based on the assembly requirements.

[0094] Example 5

[0095] Further feasible specific implementation methods are proposed based on any one of the implementation methods described in Examples 1-4.

[0096] Regarding the driving component, this embodiment proposes the following feasible implementation methods.

[0097] like Figure 2 As shown, in the first embodiment, the driving component is a lever 61. A strip-shaped through hole 35 exists on the sleeve 31, with the length direction of the through hole 35 parallel to the axial direction of the sleeve 31. The lever 61 passes through the strip-shaped through hole 35 and is slidably connected to it. To prevent the lever 61 from moving along the axial direction of the strip-shaped hole (perpendicular to the axial direction of the sleeve 31), a limiting block 63 can be fixed on the lever 61 after it passes through the strip-shaped hole. The sleeve 31 is located between two limiting blocks 63, and the limiting blocks 63 are in contact with the outer wall of the sleeve 31. A third traction rope 53 is connected to the lever 61. When the medical staff moves 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, simultaneously moving the lever 61 forward.

[0098] In the first implementation method, when the suture needle 1 is a straight needle, the specific process of suturing human tissue is as follows.

[0099] A1: Medical staff operate the movable handle 62 with their right hand to move the clamping arms 2 away from each other, i.e., the clamping arms 2 are in the open state. They can keep the clamping arms 2 in the open state with the help of tools or other medical staff.

[0100] A2: The medical staff moves the lever 61 backward with their left hand, opening the first clamping mechanism 24. The medical staff then uses a tool to place the suture needle 1 into the clamping position of the first clamping mechanism 24 and straighten the suture needle 1. The lever 61 is released, and the first clamping mechanism 24 closes the clamping of the suture needle 1, completing the installation of the suture needle 1.

[0101] A3: Adjust the needle insertion angle. The medical staff operates the movable handle 62 with their right hand to bring the clamping arms 2 closer together, so that the suture needle can puncture human tissue. The two clamping arms 2 continue to move closer together, 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 moves lever 61 with their left hand, opening the first clamping mechanism 24, while simultaneously closing the second clamping mechanism 25 to clamp the suture needle 1;

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

[0104] A6: The medical staff holds the already moved lever 61 with their left hand to adjust the needle insertion angle, and operates the movable handle 62 with their right hand to bring the clamping arms 2 closer together, so that the suture needle completely passes 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: When the medical staff releases the lever 61 with their 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 their right hand, causing the clamping arms 2 to move away from each other, so that the first clamping mechanism 24 carries 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] When using this implementation method, the specific process of suturing human tissue when the suture needle is an arc-shaped needle is as follows.

[0109] A1: Medical staff operate the movable handle 62 with their right hand to move the clamping arms 2 away from each other, i.e., the clamping arms 2 are in the open state. They can keep the clamping arms 2 in the open state with the help of tools or other medical staff.

[0110] A2: The medical staff moves the lever 61 backward with their left hand, opening the first clamping mechanism 24. The medical staff then uses a tool to place the suture needle 1 into the clamping position of the first clamping mechanism 24 and straighten the suture needle 1. The lever 61 is released, and the first clamping mechanism 24 closes the clamping of 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 to bring the clamping arms 2 closer together and into position. After that, they adjust the needle insertion angle and rotate the handle seat 32 or the sleeve 31 to make the clamping arms 2, carrying the suture needle, puncture the human tissue in a rotating manner. The suture needle 1 is passed through the human tissue after the two clamping arms 2 are close together. The purpose of this is to make room and avoid the clamping arms 2 that are not holding the suture needle 1 from interfering with the position of the suture needle 1 as it passes through the human tissue, thus affecting the suturing.

[0112] A4: The medical staff operates the movable handle 62 with their right hand, so that the clamping arms 2 move away from each other and are in the correct position, and then 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 moves lever 61 with their left hand, the first clamping mechanism 24 opens, and at the same time the second clamping mechanism 25 closes to clamp the suture needle 1;

[0114] A6: Then, the medical staff operates the movable handle 62 with their right hand, so that the clamping arms 2 are close to each other and in place. Then, they rotate the handle seat 32 or the sleeve 31 to make the second clamping mechanism 25 continue to rotate with the suture needle 1, so that the suture needle completely passes through the human tissue.

[0115] A7: The medical staff holds the lever 61 that has been moved with their left hand, and operates the movable handle 62 with their right hand. After the clamping arms 2 are brought close to each other and the needle insertion angle is adjusted, the suture needle is inserted into the human tissue.

[0116] A8: The medical staff operates the movable handle 62 with their right hand, so that the clamping arms 2 move away from each other and are in the correct position, and then 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: When the medical staff releases the lever 61 with their 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;

[0118] A10: Then the medical staff operates the movable handle 62 with their right hand, so that the clamping arms 2 are close to each other and in place. Then they rotate the handle seat 32 or the sleeve 31 to make the first clamping mechanism 24 continue to rotate with the suture needle 1, so that the suture needle completely passes 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, regardless of whether the suture needle is straight or curved, the operation still requires medical personnel to use both hands. Therefore, a second implementation method is proposed, in which the movable handle 62 is used as the driving component.

[0121] The second implementation method, such as Figure 1 , Figures 3-10 , Figures 12-17 As shown, for a straight needle, the driving component is the 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 slidably connected to it. A second compression spring 75 is provided between the push rod 72 and the countersunk groove 76. A rotating wheel 7 is provided along the sliding stroke of the push rod 72. Multiple notches 77 matching the size of the push rod 72 are evenly arranged circumferentially on the rotating wheel 7. The rod 72 can extend into the notch 77, and there are protrusions 78 between adjacent notches 77. Multiple push pins 74 are evenly arranged on the rotating wheel 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 provided between the push pin 74 and the movable handle 62. The push rod 71 is directly or indirectly connected to 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 causes the rotating wheel 7 to rotate, causing the push rod 72 to alternate between pressing against the notch 77 and pressing against the protrusion 78.

[0122] Specifically, the example is taken with the front end of the push rod 72 pressed against the rotating wheel 7 and the fourth traction rope 54 connected to the rear end of the push rod 72.

[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 backward through the fourth traction rope 54, thereby causing the rotating disk 5 to rotate backward, the first clamping mechanism 24 to open, and the second clamping mechanism 25 to close; when the movable handle 62 is rotated, the movable handle 62 pushes the push pin 74 through the push rod 71, the push pin 74 causes the rotating wheel 7 to rotate, 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 relaxes, the rotating disk 5 rotates forward under the elastic force release of the first tension spring 57, the first clamping mechanism 24 closes, and the second clamping mechanism 25 opens; when the movable handle 62 rotates, it also drives the first clamping arm 2 and the second clamping arm 2 to move closer or further apart, so that the suture needle 1 passes through the human tissue and is transferred to be clamped by the clamping mechanism on the other clamping arm 2.

[0124] Furthermore, based on embodiment 3, the push rod 71 can be mounted on the movable handle 62 or the second connecting rod 45, and the mounting method is a rotatable connection, so that there will be no motion interference when the push rod 71 pushes the rotating wheel 7 to rotate; at the same time, a torsion spring 79 is provided at the rotatable connection position of the push rod 71, so that after the push rod 71 pushes the previous push pin 74, the push rod 71 will follow and rotate, so that the torsion spring 79 can deform and have elastic potential energy; when the movable handle 62 or the second connecting rod 45 rotates, the push rod 71 will follow and move backward or forward. After the push rod 71 pushes the previous push pin 74 to its position, it moves forward and disengages from the previous push pin 74. The previous push pin 74 no longer constrains the push rod 71, that is, it no longer abuts against the push rod 71. The push rod 71 is reset under the action of the torsion spring 79. The reset position of the push rod 71 is limited by the limiting 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 push pin 74 enters the push rod 71 so that the next push pin 74 can enter the notch 711 position of the push rod 71, avoiding spatial interference.

[0125] Furthermore, such as Figure 10 As shown, to stably push the push pin 74, the distal end of the push rod 71 has a notch 711 that matches the push pin 74. When pushed, the push pin 74 enters the notch 711 of the push rod 71. To prevent the push pin 74 from failing to enter the notch 711 smoothly due to insufficient manufacturing precision or deformation during use, the diameter of the notch 711 can be larger than the diameter of the push pin 74, or the upper and lower supports of the notch 711 can be unequal, such as... Figure 10 With the upper branch of the notch 711 being shorter than the lower branch, after the push rod 71 moves forward until the upper branch of the notch 711 passes the next push pin 74, the push rod 71 returns to its original position under the action of the torsion spring 79. The upper branch of the notch 711 is higher than the push pin 74. When the push rod 71 moves forward to its limit position, the lower branch of the notch 711 is still below the next push pin 74, so that the push pin 74 can smoothly enter the notch 711 when the push rod 71 moves backward.

[0126] It should be noted that the main effect of using the push rod 71 is that when the movable handle 62 is reset, it will not move the push pin 74, thus preventing the rotating wheel 7 from rotating. This is in line with the purpose of the two clamping arms 2 clamping mechanism opening and closing once to transfer the suture needle 1 only once.

[0127] It should be noted that, since the third traction rope 53 will rotate with the sleeve 31, and the third traction rope 53 is connected to the fourth traction rope 54, in order to avoid the fourth traction rope 54 having a conical rotational path, and to avoid the first pull rod 42's turning point affecting the fourth traction rope 54 when rotating with the sleeve 31, the fourth traction 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 traction rope 53 and the fourth traction rope 54 are taut, and the fourth traction rope 54 passes through the second pull rod 43, and the connection point between the third traction rope 53 and the connecting pin 58 is not on the axis of the sleeve 31, in order to avoid the back-and-forth movement of the second pull rod 43 affecting the traction rope, and to prevent the fourth traction rope 54 from twisting due to its own rotation when the sleeve 31 rotates with the rotating disk 5 and the rotating disk 5 rotates with the third traction rope 53 around the axis of the sleeve 31, a second ball joint 73 can be set between the third traction rope 53 and the fourth traction rope 54. The second ball joint 73 is slidably connected to the sleeve 31, and the sliding direction is along the sleeve 31. The axial direction of tube 31 ensures that it can move back and forth to pull the rotating disk 5 to rotate. Specifically, the second ball joint 73 can be installed on the lever 61 or other structures that are slidably connected to the sleeve 31. Taking the installation on the lever 61 as an example, the third traction rope 53 is connected to the lever 61, and the fourth traction 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 with the sleeve 31, causing the fourth traction rope 54 to rotate around itself and generate traction rope twisting, the fourth traction rope 54 is taut, and the greater the degree of twisting, the greater the reaction force. Until the reaction force is sufficient to overcome the friction of the second ball joint 73 itself, the fourth traction rope 54 will no longer twist.

[0129] Optionally, depending on the actual application, the strip-shaped through hole 35 can be opened on the handle seat 32 and located behind the second pull rod 43. The lever 61 is also located in the same position. However, the third traction rope 53 can be connected to the ball joint, and the fourth traction rope 54 can be connected to the lever 61. At the same time, in order to avoid the third traction rope 53 being affected by the back and forth movement of the second pull rod 43, a positioning pin 55 can be set on the sleeve 31 near the rotating disk 5. The positioning pin 55 is located on the axis of the sleeve 31. The third traction rope 53 passes through the positioning pin 55 and is connected to the connecting pin 58.

[0130] Furthermore, a fixed pulley can be installed at the turning point of the fourth traction rope 54. After the fourth traction rope 54 passes around the fixed pulley, it is connected to the third traction rope 53 to ensure that the fourth traction rope 54 is in the axial position of the second pull rod 43 and the sleeve 31 and is in a taut state.

[0131] Furthermore, regarding the design of the rotation center of the rotating wheel 7, it can be set off from the rotation center of the second link 45 or the movable handle 62, or it can be coaxial with the rotation center of the second link 45 or the movable handle 62. If it is off-axis, a limited number of tests are required to determine the size design. If it is coaxial, the size of the installation space needs to be considered.

[0132] Furthermore, to ensure that the rotating wheel 7 only rotates when the push rod 71 pushes the push pin 74, damping friction can be provided 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 rotational friction, preventing the push rod 72 from pushing the rotating wheel 7 to rotate on its own and ensuring positional stability; or the axis of the push rod 72 is on 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 setting ensures that there is no rotational torque when the rotating wheel 7 is subjected to the push rod 72, thus also ensuring positional stability.

[0133] It should be noted that, in the solution provided by this embodiment, the movable handle 62 drives the clamping arm 2 to open and close via a linkage mechanism, which in turn drives the clamping mechanism to open and close. Only when the clamping arm 2 is closed to a certain extent can the needle 1 be installed. In this state, the other end of the needle 1 will be outside the movable clamping block of the other clamping arm 2. In the next round of closing, the clamping arm 2 will no longer be able to clamp the needle 1. 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 implementation method, assuming a straight needle, and 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 their right hand, causing the clamping arms 2 to move away from each other, that is, the clamping arms 2 are in the open state. The open state is maintained by tools or other medical staff. At this time, the push rod 71 moves away from the push pin 74. The initial state is described as follows: the push rod 72 is pressed against the boss 78, 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.

[0136] A2: The medical staff moves the lever 61 backward with their left hand, opening the first clamping mechanism 24. The medical staff then uses a tool to place the suture needle 1 into the clamping position of the first clamping mechanism 24 and straighten the suture needle 1. The lever 61 is released, closing the first clamping mechanism 24 and returning the first clamping mechanism 24 on the first arm 21 to the closed state. The second clamping mechanism 25 on the second arm 22 returns to the open state, completing the installation of the suture needle 1.

[0137] A3: The medical staff operates the movable handle 62 with their right hand, causing the clamping arms 2 to move closer together. At the same time, the push rod 71 moves towards the push nail 74 and pushes the push nail 74. The push nail 74 rotates the rotating wheel 7. The push rod 72 changes from pressing against the boss 78 to pressing against the notch 77. The first clamping mechanism 24 on the first arm 21 opens to release the suture needle 1. The second clamping mechanism 25 on the second arm 22 gradually closes. During this process, as the clamping arms 2 move closer together, the suture needle 1 on the first arm 21 is sent into the second clamping mechanism 25 on the second arm 22. After the movement is in place, the second clamping mechanism 25 completely clamps the suture needle 1.

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

[0139] A5: After adjusting the needle insertion angle, the medical staff operates the movable handle 62 with their right hand to bring the clamping arms 2 closer together. When they are in 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 their right hand, so that the clamping arms 2 move away from each other, and at the same time the push rod 71 moves away from the push pin 74. The first clamping mechanism 24 maintains the state of clamping the suture needle 1, so that the first clamping mechanism 24 carries 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] From the above, we can see that, as Figure 10 , Figure 17 As shown, when the needle is a straight needle, the needle is clamped and replaced after the clamping arm 2 is closed.

[0143] In the third implementation, for a curved needle, the push rod 71 in the second implementation needs to be replaced with a hook 70. The movement of the movable handle 62 is transmitted to the push pin 74 through the hook 70, which pulls the push pin 74 to rotate the wheel 7, causing the push rod 72 to alternate between pressing against the notch 77 and pressing against the boss 78; furthermore, as Figure 11As shown, in order to stably engage the hook 70 with the next push pin 74, the front end of the hook 70 has a bevel 701. During the process of the hook 70 retracting from the previous push pin 74 and engaging with the next push pin 74, as the movable handle 62 or the second link 45 rotates, and under the constraint of the previous push pin 74, the hook 70 rotates accordingly, so that the front end of the hook 70 faces the next push pin 74. At the same time, due to the rotation of the movable handle 62 or the second link 45, the hook 70 moves towards the next push pin 74 until the bevel 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 bevel 701 of the hook 70 gradually slides under the push pin 74. After completely sliding under the push pin 74, the hook 70 returns to its original position under the action of the torsion spring, so that the hook 70 is stably engaged with the next push pin 74.

[0144] The entire work process is as follows:

[0145] A1: The medical staff operates the movable handle 62 with their right hand, causing the clamping arms 2 to move away from each other, that is, the clamping arms 2 are in the open state. The open state is maintained by tools or other medical staff. At this time, the hook 71 moves away from the push pin 74. The initial state is described as follows: the push rod 72 is pressed against the boss 78, 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.

[0146] A2: The medical staff moves the lever 61 backward with their left hand, opening the first clamping mechanism 24. The medical staff then uses a tool to place the suture needle 1 into the clamping position of the first clamping mechanism 24 and straighten the suture needle 1. The lever 61 is released, closing the first clamping mechanism 24 and returning the first clamping mechanism 24 on the first arm 21 to the closed state. 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 bring the clamping arms 2 closer together. Move the cannula with your finger to adjust the suture needle to the appropriate angle. The medical staff performs suturing by rotating the cannula and / or the handle seat. After the suture needle is in place, the medical staff operates the movable handle 62 with their right hand to move the clamping arms 2 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 rotates the wheel 7. The push rod 72 changes from pressing against the boss 78 to pressing 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, as 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 the position, the second clamping mechanism 25 completely clamps the suture needle 1.

[0148] A4: The medical staff operates the movable handle 62 with their right hand, so that the clamping arms 2 move closer together, while the hook 71 moves away from the push pin 74, and the second clamping mechanism 25 keeps the suture needle 1 in a clamping state.

[0149] A5: The medical staff operates the movable handle 62 with their right hand to bring the clamping arms 2 closer together, rotates the cannula to adjust the needle insertion angle, rotates the cannula and / or the handle seat to perform suturing and needle insertion, and after the suturing and needle insertion is in place, the medical staff operates the movable handle 62 with their right hand to move the clamping arms 2 away from each other. When they are 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 their right hand, so that the clamping arms 2 come closer together, while the hook 71 moves away from the push pin 74. The first clamping mechanism 24 keeps the needle 1 in the clamping state. The sleeve and / or handle seat are rotated so that the first clamping mechanism 24, with the needle 1, completely passes through the human tissue.

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

[0152] Furthermore, when the suture needle 1 is an arc-shaped needle, it can always remain within the needle inlet of the two clamping arms 2.

[0153] Implementation method 3 enables the change of clamping position during suturing when the needle is an arc-shaped needle, that is, clamping is performed after the clamping arm 2 moves away.

[0154] Example 6

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

[0156] In one feasible implementation, to ensure that the clamping mechanism holding the suture needle 1 maintains a fully clamped state when puncturing human tissue, thereby improving puncture stability, this can be achieved by the feature that "after clamping the suture needle 1, the traction rope between its slider 28 and 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." In other words, this means that "when the rotating disk rotates, the clamping mechanism opens with a delayed start." "This process; to achieve this process, the distance traveled by the rotating disk each time can be set to be greater than the stroke of the movable clamp 261, that is, the range of motion of the lever 61 or the push rod 72 is greater than the limit distance between the movable clamp 261 and the fixed clamp 262. Furthermore, the maximum length of the lever 61 sliding in the strip-shaped through hole 35 is greater than the limit distance between the movable clamp 261 and the fixed clamp 262, and the height difference between the notch 77 and the boss 78 is greater than the limit distance between the movable clamp 261 and the fixed clamp 262."

[0157] In one feasible implementation, during the opening and closing of the clamping mechanism of the clamping arm 2 driven by the movable handle 62, the clamping arm 2 continues to move closer or further away. For straight needles, if the clamping arm 2 continues to move closer, it may pinch the tissue and change the clamped position of the needle 1. For curved needles, if the clamping arm 2 continues to move further away, it may change the spatial position of the needle inlet, leading to failure in needle clamping and replacement. It may also cause clamping failure because the needle rod obstructs the clamping arm 2, making it difficult for it to move further away. Changes in the clamped position of the needle 1 are detrimental to continuous suturing of the tissue. Therefore, preferably, the first pull rod 42 or the second pull rod 43 can be disconnected, such as... Figures 19-20 As 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 segment 434 and a rear pull rod segment 431. Support members support the front pull rod segment 434 and the rear pull rod segment 431 respectively, ensuring that the front pull rod segment 434 and the rear pull rod segment 431 can only move back and forth along the axial direction. A limit plate 433 is provided on the front pull rod segment 434. After the front pull rod segment 434 moves forward or backward to its designated position, the limit plate 433 abuts against the support member supporting the front pull rod segment 434, restricting the front pull rod segment 434 from continuing to move forward or backward. A second spring 432 is provided between the front pull rod segment 434 and the rear pull rod segment 431. The two ends of the second spring are connected to the front pull rod segment and the rear pull rod segment respectively, so that the rear pull rod segment 431 can move forward by compressing the second spring after the front pull rod segment 434 stops moving. The second spring is stretched to move backward; 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. The purpose of this setting is to make the clamping arm 2 stop moving after the front pull rod section 434 moves into place, and no longer move closer or further 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, so as to drive the rotating wheel 7 to rotate through the push rod 71 or the hook 70, and further realize that the needle 1 is stably and alternately clamped (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 that the process of clamping and releasing the needle 1 is delayed and independent of the process of the two clamping arms 2 moving closer or further away.

[0158] Specifically, when the needle is a straight needle, the support member supporting the front pull rod section 434 is located behind the limiting plate 433, thus limiting the limit of the backward movement of the front pull rod section 434, and consequently limiting the degree of closure of the two clamping arms 2. At this time, the second spring 432 is a tension spring, allowing the rear pull rod section 431 to continue moving backward by stretching the second spring, thereby pushing the rotating wheel 7 to rotate through the push rod 71, further achieving stable alternating clamping of the needle 1. When the needle is a curved needle, the support member supporting the front pull rod section 434 is located in front of the limiting plate 433, thus limiting the limit of the forward movement of the front pull rod section 434, and consequently limiting the degree of opening of the two clamping arms 2. At this time, the second spring 432 is a compression spring, allowing the rear pull rod section 431 to continue moving forward by compressing the second spring, thereby pulling the rotating wheel 7 to rotate through the hook, further achieving stable alternating clamping of the needle 1.

[0159] With the above structure, for straight needles, continuous suturing of tissues can be achieved, and the clamping arm can be used to prevent injury to the patient's tissues, thereby reducing secondary damage; for curved needles, the spatial position of the needle inlet can be effectively guaranteed. This effect is due to the setting of a limit plate 433 and a second spring 432 on the front pull rod section 434.

[0160] Furthermore, in actual operation, depending on the thickness of the tissue to be sutured, different degrees of closeness or distance of the clamping arms need to be adjusted. Preferably, this can be achieved by adjusting the position of the support member of the front pull rod section 434. The support member of the front pull rod section 434 can be equipped with a connecting rod that protrudes through the sleeve. The sleeve has a corresponding slotted through hole, and the connecting rod is slidably connected to the slotted through hole. A locking buckle is provided on the connecting rod to fix it to the sleeve. This embodiment is not illustrated, but those skilled in the art can understand from the description and make adaptive changes to the overall structure.

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

Claims

1. A needle holder for use in surgery, having two clamping mechanisms capable of alternately clamping a suture needle, characterized in that: The needle holding device has a housing, and two clamping arms (2) are rotatably connected to the front end of the housing. The two clamping arms (2) are connected to a movable handle (62) on the housing through a linkage mechanism, so that the two clamping arms (2) can be driven to move closer or further apart through the movable handle (62). The clamping arms (2) are provided with clamping mechanisms for clamping the sewing needle (1). Both clamping mechanisms are connected to a driving component through a rope linkage mechanism, so that the driving component can drive the clamping mechanisms on different clamping arms (2) to alternately clamp the sewing needle (1). The housing has a handle seat (32) and a sleeve (31). The rear end of the sleeve (31) is rotatably connected to the handle seat (32), and the clamping arm (2) is rotatably connected to the front end of the sleeve (31). The plane on which the clamping arm (2) rotates is perpendicular to the plane on which the sleeve (31) rotates. The clamping mechanism includes a countersunk sliding hole (211), the depth direction of which is along the length direction of the clamping arm (2), a slider (28) is slidably connected inside the countersunk sliding hole (211), a fixed clamping block (262) is fixed at the opening of the countersunk sliding hole (211), and 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), and a movable clamping block (261) is fixedly connected after the sliding connecting rod (27) passes through the fixed clamping block (262); 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 component 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); 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 axial direction of the sleeve (31). A connecting pin (58) is provided on the outer side of the rotating disk (5), and three traction ropes are connected to the connecting pin (58). One is a first traction rope (51), one end of which is connected to the connecting pin (58), and the other end passes over the fixed pulley fixed on the fixed clamp (262) and is connected to one of the sliders (28). The second is a second traction rope (52), one end of which passes over the circumferential outer side of the rotating disk (5). One end is connected to the connecting pin (58), and the other end passes over the fixed pulley fixed on the fixed clamp (262) and is connected to another slider (28); the third is the third traction rope (53), one end is connected to the connecting pin (58), and the other end is connected to the drive component; at the same time, a first tension spring (57) is provided between the connecting pin (58) and the sleeve (31) wall, and the two ends of the first tension spring (57) are respectively connected to the connecting pin (58) and the sleeve (31) wall, and the tension direction of the first tension spring (57) matches the rotation direction of the rotating disk (5).

2. The needle-holding device according to claim 1, characterized in that: The 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 hinged to the rear end of the clamping arm (2) and the front end of the first pull rod (42), respectively. 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 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 arm (2) moves closer or further apart.

3. The needle-holding device according to claim 2, 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 may also have a second link (45), with grooves (46) at both ends of the second link (45), and the middle part of the second link (45) is rotatably connected to the handle seat (32), the rear end of the second pull rod (43) is slidably connected to the groove (46) at one end of the second link (45), and one end of the movable handle (62) is slidably connected to the groove (46) at the other end of the second link (45).

4. The needle-holding device according to claim 1, characterized in that: The outer side of the rotating disk (5) is provided with an annular groove (56), and the three traction ropes are all located in the annular groove (56).

5. The needle-holding device according to claim 1, characterized in that: The driving component is a lever (61), and a strip-shaped through hole (35) is present on the sleeve (31). The length direction of the strip-shaped through hole (35) is parallel to the axial 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); or / and the driving component is a fourth traction rope (54) in a 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). 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 provided on the stroke. Multiple notches (77) matching the size of the push rod (72) are evenly arranged on the circumference of the rotating wheel (7). The push rod (72) can be inserted into the notch (77). There are bosses (78) between adjacent notches (77). Multiple push pins (74) are evenly arranged on the rotating wheel (7). A push rod (71) or a pull hook (70) is provided between the push pin (74) and the movable handle (62). The push rod (71) or the pull hook (70) is directly or indirectly connected to the movable handle (62). The movement of the movable handle (62) is transmitted to the push pin (74) through the push rod (71) or the pull hook (70). The movement of the push pin (74) causes the rotating wheel (7) to rotate, causing the push rod (72) to alternate between pressing against the notch (77) and pressing against the boss (78).

6. The needle-holding device according to claim 5, characterized in that: The maximum length of the lever (61) sliding in the strip-shaped through hole (35) is greater than the limit distance between the movable clamp (261) and the fixed clamp (262), and the height difference between the notch (77) and the boss (78) is greater than the limit distance between the movable clamp (261) and the fixed clamp (262). The first or second pull rod (43) is composed of a front pull rod section (434) and a rear pull rod section (431), with support members supporting the front pull rod section (434) and the rear pull rod section (431) respectively; a limit plate (433) is provided 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 into place; a second spring (432) is provided 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).

7. The needle-holding device according to claim 5, characterized in that: The fourth traction rope (54) and the third traction rope (53) are connected by a second ball joint (73), and the second ball joint (73) is slidably connected to the sleeve (31), with the sliding direction along the axis of the sleeve (31).

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