Blood vessel suturing machine and blood vessel suturing equipment

Abstract

The invention discloses a blood vessel suturing machine and blood vessel suturing equipment. Relates to the field of medical instruments. The sewing machine comprises a sewing machine body; the first set of needle forceps is installed on the sewing machine body, a first jaw matched with the radian of a surgical needle is arranged at the bottom of the first set of needle forceps, the first set of needle forceps can rotate in a reciprocating mode around the central axis where the first set of needle forceps is located, the first jaw can be opened and closed, and the surgical needle can be clamped when the first jaw is closed. The second set of needle forceps is installed on the sewing machine body and arranged outside the first set of needle forceps in a sleeving mode, a second jaw matched with the surgical needle in radian is arranged at the bottom of the second set of needle forceps, the second set of needle forceps can rotate around the central axis where the second set of needle forceps is located in a reciprocating mode, the second jaw can be opened and closed, and the surgical needle can be clamped when the second jaw is closed; the height of the second jaw is the same as that of the first jaw; and the control mechanism can respectively control the rotation of the first group of needle forceps and the second group of needle forceps, and can respectively control the opening and closing of the first jaw and the opening and closing of the second jaw. The sewing precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a vascular suture machine and a vascular suture device. Background Art

[0002] Vascular suture is the most critical technology in surgical operations, especially crucial in vascular reconstruction, organ transplantation, and trauma repair. The vascular suture process is generally manually performed by doctors, with complex operations and various challenges and potential problems. For example, anastomotic stenosis, over-dense suture, uneven stitch spacing, vascular intimal injury, or excessive tension may all cause suture defects, and it is difficult to ensure suture accuracy. In severe cases, a second operation is required for repair. To avoid this problem, it is necessary to improve suture accuracy.

[0003] The existing Da Vinci robotic surgical system can provide higher-precision suture operations. However, its operations are also achieved by the machine replacing the human hand movements. The movements during the suture operation test the proficiency of the operator, that is, its suture process still relies on the manual proficiency and practical experience of the operator, and it is easy to generate human errors due to issues such as the operator's proficiency, energy, and mood, and the accuracy is difficult to meet the requirements. Therefore, there is an urgent need to design a technical solution that can improve suture accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide a vascular suture machine and a vascular suture device to solve the problems existing in the above-mentioned prior art and improve suture accuracy.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] The present invention provides a vascular suture machine, including:

[0007] A suture machine body;

[0008] A first group of needle forceps, installed on the suture machine body, with a first jaw at the bottom of the first group of needle forceps that matches the curvature of the surgical needle. The first group of needle forceps can reciprocally rotate around its central axis, and the first jaw can open and close. When the first jaw is closed, it can fixedly hold the surgical needle;

[0009] A second group of needle forceps, installed on the suture machine body and sleeved outside the first group of needle forceps. The second group of needle forceps has a second jaw at the bottom that matches the curvature of the surgical needle. The second group of needle forceps can reciprocally rotate around its central axis, and the second jaw can open and close. When the second jaw is closed, it can fixedly hold the surgical needle; the height of the second jaw is the same as the height of the first jaw;

[0010] A control mechanism capable of separately controlling the rotation of the first group of needle forceps and the second group of needle forceps, and capable of separately controlling the opening and closing of the first jaw and the opening and closing of the second jaw.

[0011] Preferably, the first group of needle forceps includes a central push rod tongue and a third push tube jaw arranged coaxially. The third push tube jaw is sleeved outside the central push rod tongue, and the bottom of the central push rod tongue and the bottom of the third push tube jaw form the first jaw; the second group of needle forceps includes a second sleeve jaw and an outer push tube tongue arranged coaxially. The second sleeve jaw is sleeved outside the lower part of the third push tube jaw, the outer push rod tongue is sleeved outside the second sleeve jaw, and the bottom of the outside of the second sleeve jaw and the bottom of the outer push rod tongue form the second jaw.

[0012] Preferably, the central push rod tongue is a cylindrical structure, and one end of it is fixedly connected with a central push rod tongue sleeve fixing platform. The central push rod tongue sleeve fixing platform is a cylindrical structure, and the diameter of the central push rod tongue sleeve fixing platform is smaller than the diameter of the central push rod tongue. A central push rod tongue groove is provided in a ring shape at one end of the central push rod tongue sleeve fixing platform away from the central push rod tongue; an arc-shaped central push rod head is fixedly connected to the side wall of the end of the central push rod tongue away from the central push rod tongue sleeve fixing platform. A head positioning groove with a semi-circular arc groove structure is provided at the end of the central push rod head; a head needle groove is provided at a position near the inner side of the head positioning groove at the end of the central push rod head.

[0013] The third push tube jaw is a circular tube structure. One end of the third push tube jaw is provided with a D-shaped head of a third sleeve jaw tube. An axial cut is provided on the side wall of the D-shaped head of the third sleeve jaw tube. The virtual plane where the axial cut is located is parallel to the plane where the axis of the third push tube jaw is located; a right-angle groove is provided between the D-shaped head of the third sleeve jaw tube and the third push tube jaw; a circular ring is fixedly sleeved at the end of the third push tube jaw away from the D-shaped head of the third sleeve jaw tube. One side of the circular ring is connected with a semi-circular arc block. The end of the semi-circular arc block is provided with a top hook. An arc groove is provided on the arc side adjacent to the semi-circular arc block on the top hook; a pin mounting hole is provided on the side plane of the semi-circular arc block, and a pin is slidably arranged in the pin mounting hole. The area between the head needle groove and the arc groove forms the first jaw. The pin is slidably connected with the head positioning groove of the central push rod tongue in a sliding fit. The head positioning groove moves along the axial direction of the pin, and the abutment or separation between the head needle groove and the arc groove can be realized.

[0014] Preferably, the second sleeve jaw is a circular tubular structure, one end of which is provided with a pipe orifice, the diameter of the pipe orifice is smaller than the diameter of the second sleeve jaw, and a step is provided at the connection position between the pipe orifice and the third push tube jaw; a ring is fixedly sleeved on the other side of the second sleeve jaw, and an arc groove of the sleeve jaw is fixedly provided on the side wall of the ring, and a right-angled hook is provided at the end of the arc groove of the sleeve jaw; a rectangular hole is opened in the middle of the arc groove of the sleeve jaw.

[0015] The outer push tube tongue is a circular tubular structure, one end of the outer push rod tongue is provided with an orifice of the outer push rod tongue, and an outer push rod tongue square bar is fixedly provided on the side wall of the orifice of the outer push rod tongue, and an arc groove of the outer push tube tongue is opened at the end of the outer push rod tongue square bar; the outer push rod tongue square bar can be inserted into the rectangular hole of the second sleeve jaw; a second jaw is formed between the right-angled hook of the arc groove of the sleeve jaw and the arc groove of the outer push tube tongue; the outer push rod tongue square bar can be moved up and down along the rectangular hole to open or close the second jaw, and this up and down movement is an axial forward and backward movement along the axis of the rectangular hole.

[0016] Preferably, the suture machine body includes a vascular suture machine housing, the central push rod tongue is located at the central position of the vascular suture machine housing, and a central push rod snap ring is clamped on the central push rod tongue groove; one end of the central push rod tongue close to the fixed table of the central push rod sleeve penetrates through the central push rod mounting hole of the central push rod fixed sleeve; the central push rod fixed sleeve is located between the central push rod snap ring and the fixed table of the central push rod tongue sleeve, and when the central push rod fixed sleeve moves axially, it can drive the central push rod tongue to move synchronously.

[0017] A central push rod gear disc is sleeved outside the first group of needle jaws, and a central push rod motor is installed on the central push rod rotating gear disc motor seat of the central push rod gear disc; a central push rod tooth sleeve is installed on the central push rod rotating gear disc teeth of the central push rod gear disc, and the central push rod rotating gear disc teeth cooperate with the central push rod tooth sleeve nut of the central push rod tooth sleeve; a rotating tooth is provided on the output shaft of the central push rod motor, and the rotating tooth is rotationally connected to the outside of the central push rod tooth sleeve; a wire arc snap ring of the central push rod double snap ring is connected to the central push rod tooth sleeve groove at one end of the central push rod tooth sleeve; the wire head snap ring of the central push rod double snap ring is stuck in the double snap groove of the central push rod double snap ring of the central push rod fixed sleeve; when the output shaft of the central push rod motor rotates, it can drive the central push rod tooth sleeve to rotate synchronously, and when the central push rod tooth sleeve rotates, it can axially move along the central push rod rotating gear disc teeth, and during the movement, the central push rod fixed sleeve is driven to move axially through the central push rod double snap ring.

[0018] A circular tube is provided at the lower end of the central push rod tooth disc, and a central tooth disc bearing and a central push rod bearing fixing and locking sleeve are installed at the circular tube. The central push rod bearing fixing and locking sleeve can lock the central tooth disc bearing and the central push rod tooth disc to the bearing tightening sleeve thread of the double-bearing motor fixing sleeve through threads. The double-bearing motor fixing sleeve is installed on the shell of the blood vessel suture machine. The central push rod rotation motor installation hole of the double-bearing motor fixing sleeve is used to install the central push rod rotation motor. The teeth at the head end of the central push rod rotation motor are engaged with the teeth of the central push rod tooth disc. The central push rod rotation motor is used to rotate the first group of needle pliers.

[0019] Preferably, the outer jaw rotation motor screw hole of the double-bearing motor fixing sleeve is used to install the outer jaw rotation motor. The teeth at the head end of the outer jaw rotation motor are engaged with the teeth of the outer jaw rotation tooth disc to rotate the second group of needle pliers. An outer jaw fixed bearing is installed in the bearing fixing circle of the double-bearing motor fixing sleeve. The outer jaw fixed bearing is fitted and installed on one side of the outer jaw disc convex ring of the outer jaw rotation tooth disc and is clamped by the outer jaw rotation tooth disc groove of the outer jaw rotation tooth disc. A wear-resistant bushing with a convex structure is fitted and installed in the inner hole at one end of the outer jaw rotation tooth disc groove. The wear-resistant bushing is in sliding fit with the third sleeve jaw tube. A snap ring is installed on one side of the wear-resistant bushing. The outer jaw rotation motor hole of the double-bearing motor fixing sleeve fixes the outer jaw rotation motor. The teeth of the outer jaw rotation motor are engaged with the outer jaw rotation tooth disc teeth of the outer jaw rotation tooth disc. When the outer jaw rotation motor rotates, it can drive the outer jaw rotation tooth disc to rotate and drive the second group of needle pliers to rotate synchronously.

[0020] An outer push rod propulsion tooth ring is installed on the outer jaw rotation tooth disc by threads. One side wire ring of the outer jaw connection double snap ring is clamped into the ring groove of the outer push rod propulsion tooth ring. The other side wire ring of the outer jaw connection double snap ring is clamped into the ring groove of the push tube tongue fixing sleeve. The gear of the outer jaw push rod motor is engaged with the outer push rod propulsion tooth ring. When the outer jaw push rod motor rotates, its gear drives the outer push rod propulsion tooth ring to rotate. The internal thread of the outer push rod propulsion tooth ring rotates forward under the action of the thread of the outer jaw rotation tooth disc, pushing the push tube tongue fixing sleeve and the outer push tube tongue forward. When the outer jaw push rod motor rotates in reverse, the internal thread of the outer push rod propulsion tooth ring reverses under the action of the thread of the outer jaw rotation tooth disc, and the outer push rod propulsion tooth ring retreats along with the thread. The push tube tongue fixing sleeve and the outer push tube tongue are pulled back through the outer jaw connection double snap ring, realizing the closing or opening of the second group of needle pliers.

[0021] The present invention also provides a blood vessel suture device, including a display control box, a double-tube column, a foot-operated control pedal, a main machine support tube, and the blood vessel suture machine as described above.

[0022] The vascular suture machine is installed on the main machine support tube, and the main machine support tube is slidably arranged on the double-tube column, and the position of the main machine support tube on the double-tube column can be adjusted; a display is provided on the display control box, which can display the working interfaces of the first jaw and the second jaw; the control mechanism includes a foot-operated control pedal, and the foot-operated control pedal can respectively control the rotation of the first group of needle pliers and the second group of needle pliers, and can respectively control the opening and closing of the first jaw and the opening and closing of the second jaw.

[0023] Preferably, it further includes a control height rack tube, the control height rack tube is located at the rear end of the double-tube column, a height pressing plate is provided on the upper part of the main machine support tube, and the end of the height pressing plate can be clamped on the control height rack tube.

[0024] Preferably, it further includes a double locking button, the double locking button is provided on the lower part of the main machine support tube, and the double locking button can be fixedly abutted against the side wall of the double-tube column.

[0025] Preferably, it further includes a power distribution slide piece and a central push rod power distribution slide disk; an electric slide piece installation table is fixedly sleeved on the double-bearing motor, and the electric slide piece installation table is used for installing the power distribution slide piece; the central push rod power distribution slide disk is installed on the central push rod gear disk; the central push rod power distribution slide disk is provided with an annular conductive sheet and a copper conductive ring, and the annular conductive sheet and the copper conductive ring are respectively used for sliding electrical connection with the power distribution slide piece; a motor connection wire is provided on the central push rod power distribution slide disk for connecting to the central push rod motor; side slide pieces and arc-shaped slide pieces are respectively provided on both sides of the power distribution slide piece, the side slide pieces are used for sliding conduction of the central push rod power distribution slide disk, the arc-shaped slide pieces are used for sliding conduction of the outer jaw conductive rotating slide disk, and the wire on the outer jaw conductive rotating slide disk is connected to the outer jaw push rod motor; the main wire of the power distribution slide piece is led out and connected outside the vascular suture machine and then installed on the display control box; the display control box is electrically connected to the foot-operated control pedal.

[0026] The present invention has achieved the following technical effects compared with the prior art:

[0027] The present invention utilizes the existing mature numerical control system of the control mechanism to precisely open and close two jaws; the doctor adjusts the blood vessel to be sutured to the optimal angle and sends it in front of the needle pliers group; only by turning on the start switch of the control mechanism, the first group of needle pliers inserts the needle into the blood vessel, and the needle passing through the blood vessel is clamped by the second group of needle pliers at the middle part of the needle and rotated with the needle to the rear end of the first group of needle pliers; the second group of needle pliers sends the needle into the opened jaws of the first group of needle pliers; the first jaw of the first group of needle pliers closes to clamp the surgical needle; at this time, the first group of needle pliers holds the needle at the front end of the needle, and after the second jaw of the second group of needle pliers is loosened and rotated, it rotates to the rear end of the surgical needle without touching the surgical suture and clamps the surgical needle; the second group of needle pliers rotates forward again, sends the needle into the first jaw of the first group of needle pliers again, and the first group of needle pliers clamps the surgical needle and rotates to the initial angle waiting for the doctor's operation; during the suture process, the first group of needle pliers and the second group of needle pliers cooperate to perform automatic suture, liberating the hands of the operator, eliminating the need for the operator to hold the suture by hand, achieving the same technique as that of the surgeon holding the pliers to suture the blood vessel; reducing the human error caused by the proficiency, energy, mood, etc. of the operator, and being able to improve the suture accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and for those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 It is the external view of the blood vessel suture device of the present invention;

[0030] Figure 2 It is the partial schematic view of the blood vessel suture device of the present invention;

[0031] Figure 3 It is the second partial schematic view of the blood vessel suture device of the present invention;

[0032] Figure 4 It is the third partial schematic view of the blood vessel suture device of the present invention;

[0033] Figure 5 It is the external view of the blood vessel suture machine of the present invention;

[0034] Figure 6 It is the internal view of the blood vessel suture machine of the present invention;

[0035] Figure 7 It is the exploded view of the blood vessel suture machine of the present invention;

[0036] Figure 8 It is the assembled structure diagram of the blood vessel suture machine of the present invention;

[0037] Figure 9 This is the first partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0038] Figure 10 This is the second partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0039] Figure 11 This is the third partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0040] Figure 12 This is the fourth partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0041] Figure 13 This is the fifth partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0042] Figure 14 This is the sixth partial structure diagram of the assembly of the blood vessel suture machine of the present invention;

[0043] Figure 15 This is the central push rod tongue diagram of the blood vessel suture machine of the present invention;

[0044] Figure 16 This is the third push tube jaw diagram of the blood vessel suture machine of the present invention;

[0045] Figure 17 This is the second sleeve jaw diagram of the blood vessel suture machine of the present invention;

[0046] Figure 18 This is the outer push tube tongue diagram of the blood vessel suture machine of the present invention;

[0047] Figure 19 This is the first set of needle pliers of the blood vessel suture machine of the present invention;

[0048] Figure 20 This is the schematic diagram of the second set of needle pliers of the blood vessel suture machine of the present invention;

[0049] Figure 21 This is another schematic diagram of the second set of needle pliers of the blood vessel suture machine of the present invention;

[0050] Figure 22 This is the rotation separation diagram of the first set of needle pliers and the second set of needle pliers of the present invention;

[0051] Figure 23 This is the rotation combination on one side diagram of the first set of needle pliers and the second set of needle pliers of the present invention;

[0052] Figure 24 This is the diagram of the first set of needle pliers and the second set of needle pliers simultaneously clamping the same surgical needle of the present invention;

[0053] Figure 25 This is the schematic diagram of the central push rod rotating gear disk of the blood vessel suture machine of the present invention;

[0054] Figure 26 Schematic diagram of the outer jaw rotating gear disk of the blood vessel suture machine of the present invention;

[0055] Figure 27 Schematic diagram of the double-bearing motor fixing sleeve of the blood vessel suture machine of the present invention;

[0056] Figure 28 Schematic diagram of the central push rod power distribution sliding disk of the blood vessel suture machine of the present invention;

[0057] Figure 29 Schematic diagram of the power distribution sliding piece of the blood vessel suture machine of the present invention;

[0058] Figure 30 Schematic diagram of the central push rod gear sleeve of the blood vessel suture machine of the present invention;

[0059] Figure 31 Schematic diagram of the central push rod fixing sleeve of the blood vessel suture machine of the present invention;

[0060] Figure 32 Schematic diagram of the central push rod double snap ring of the blood vessel suture machine of the present invention;

[0061] Figure 33 Schematic diagram of the central push rod bearing fixing and locking sleeve of the blood vessel suture machine of the present invention.

[0062] In the figure: 1 - Central push rod snap ring; 2 - Central push rod fixing sleeve; 201 - Double snap ring double groove of central push rod; 202 - Mounting hole of central push rod; 203 - Central circular tube convex ring; 3 - Central push rod double snap ring, 301 - Bent wire; 302 - Wire bent arc snap ring; 303 - Wire head snap ring; 4 - Central push rod gear sleeve, 401 - Nut of central push rod gear sleeve; 402 - Straight tooth ring; 403 - Groove of central push rod gear sleeve; 5 - Central push rod motor; 6 - Central push rod distributor sliding disk; 601 - Motor connecting wire; 602 - Ring-shaped conductive sheet; 603 - Mounting hole of central push rod distributor sliding disk; 604 - Copper conductive ring; 7 - Central push rod gear disk; 701 - D-shaped mounting hole of central push rod gear disk; 702 - Groove of central push rod; 703 - Bearing platform of central push rod rotating gear disk; 704 - Mounting hole of central push rod gear disk sliding disk; 705 - Teeth of central push rod rotating gear disk; 706 - Two screw holes on the oval table of central push rod rotating gear disk; 707 - Push rod teeth of central push rod rotating gear disk; 708 - Tube of central push rod rotating gear disk; 8 - Central push rod bearing fixing and locking sleeve; 801 - Central gear disk bearing fixing platform; 802 - Locking thread; 803 - Locking groove; 9 - Outer jaw rotating motor; 10 - Central push rod rotating motor; 11 - Outer jaw circular tube fixing sleeve; 12 - Distributor sliding piece; 1201 - Side sliding piece; 1202 - Mounting hole of sliding piece; 1203 - Wire of sliding piece; 1204 - Main wire; 1205 - Base of sliding piece; 1206 - Arc-shaped sliding piece; 13 - Double bearing motor fixing sleeve; 1301 - First housing mounting screw hole; 1302 - Second housing mounting screw hole; 1303 - Screw hole of central push rod rotating motor; 1304 - Third housing mounting screw hole; 1305 - Screw hole of outer jaw rotating motor; 1306 - Thread of bearing tightening sleeve; 1307 - Bearing fixing ring; 1308 - Mounting platform of electric sliding piece; 14 - Outer jaw push rod motor; 15 - Outer jaw conductive rotating sliding disk; 16 - Outer jaw fixed bearing; 17 - Outer jaw rotating gear disk; 1701 - External thread of outer jaw rotating gear disk; 1702 - Motor fixing screw hole; 1703 - Catching teeth of outer jaw rotating gear disk; 1704 - Screw hole of conductive disk of outer jaw gear disk; 1705 - Convex ring of outer jaw gear disk; 1706 - Card slot of outer jaw rotating gear disk; 1707 - Straight tube of outer jaw rotating gear disk; 18 - Outer push rod advancing tooth ring; 19 - Outer jaw connecting double snap ring, 1901 - Snap ring; 20 - Push tube tongue fixing sleeve; 21 - Central push rod tongue; 2101 - Needle head groove; 2102 - Positioning groove of head; 2103 - Head of central push rod; 2104 - Central main push rod; 2105 - Fixing platform of central push rod tongue sleeve; 2106 - Groove of central push rod tongue; 22 - Third push tube jaw; 2201 - Arc groove of needle; 2202 - Positioning push rod pin; 2203 - Long circular tube through hole; 2204 - Semi-circular square body; 2205 - Right-angle groove; 2206 - D-shaped head of third sleeve jaw tube; 23 - Second sleeve jaw; 2301 - Arc groove2302 - Second sleeve jaw square through - hole; 2303 - Step; 2304 - Second sleeve jaw pipe orifice; 24 - Outer push pipe tongue; 2401 - Outer push pipe tongue square bar; 2402 - Outer push pipe tongue arc - shaped groove; 2403 - Connecting circle; 101 - Display control box; 102 - Height pressing plate; 103 - Double - locking button; 104 - Control height rack pipe; 105 - Double - pipe column; 106 - Foot - operated control pedal; 107 - Vascular suture machine; 108 - Main machine support pipe; 109 - Central tooth disc bearing; 1091 - Bearing fixing snap ring; 110 - Wear - resistant bushing; Detailed implementation mode

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0064] The purpose of the present invention is to provide a vascular suture machine and a vascular suture device to solve the problems existing in the above - mentioned prior art and improve the suture accuracy.

[0065] To make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific implementation modes.

[0066] The present invention provides a vascular suture machine, such as Figures 5 to 33As shown in the figure, it includes a suture machine body; a first set of needle holders is installed on the suture machine body. The bottom of the first set of needle holders is provided with a first jaw that matches the curvature of the surgical needle. The first set of needle holders can reciprocally rotate around its central axis, and the first jaw can open and close. When the first jaw is closed, it can fixedly hold the surgical needle; a second set of needle holders is installed on the suture machine body and sleeved outside the first set of needle holders. The bottom of the second set of needle holders is provided with a second jaw that matches the curvature of the surgical needle. The second set of needle holders can reciprocally rotate around its central axis, and the second jaw can open and close. When the second jaw is closed, it can fixedly hold the surgical needle; the height of the second jaw is the same as the height of the first jaw; the control mechanism can respectively control the rotation of the first set of needle holders and the second set of needle holders, and can respectively control the opening and closing of the first jaw and the opening and closing of the second jaw. The present invention is small in volume, occupies a small space for the operation radius, the suture operation steps are precise, there are no problems of human energy, emotion, and skill, it saves surgical costs, reduces the frequency of appliance replacement, reduces risks, shortens the operation time, and reduces late complications. The specific structure of the blood vessel suture machine of the present invention includes a central push rod snap ring 1, a central push rod fixed sleeve 2, a central push rod double snap ring 3, a central push rod gear sleeve 4, a central push rod motor 5, a central push rod distribution electric slide plate 6, a central push rod gear disk 7, a central push rod bearing fixing and locking sleeve 8, an outer jaw rotation motor 9, a central push rod rotation motor 10, an outer jaw round tube fixed sleeve 11, a distribution electric slide piece 12, a double bearing motor fixed sleeve 13, an outer jaw push rod motor 14, an outer jaw conductive rotation slide plate 15, an outer jaw fixed bearing 16, an outer jaw rotation gear disk 17, an outer push rod propulsion gear ring 18, an outer jaw connection double snap ring 19, a push tube tongue fixing sleeve 20, a central push rod tongue 21, a third push tube jaw 22, a second sleeve jaw 23, and an outer push tube tongue 24.

[0067] As Figures 1 to 31 shown, the second object of the present invention is to provide a blood vessel suture device, including a display control box 101, a height pressing plate 102, a double locking button 103, a control height rack tube 104, a double tube column 105, a foot-operated control pedal 106, a blood vessel suture machine 107, and a host support tube 108.

[0068] The main parts of the blood vessel suture machine of the present invention are made of stainless steel or titanium alloy. The motor uses a four-wire two-phase stepping motor and adopts a multi-axis numerical control board; the jaw parts are carved by a five-axis micro engraving machine. The display of the display control box 101 can display the operation interface, and the working state of the endoscope observation blood vessel suture machine can be observed through the display.

[0069] As Figures 1 to 4As shown, the vascular suture machine 107 is installed on the main support tube 108. When the vascular suture machine 107 needs to be adjusted, the operator must hold the main support tube 108 with his hand; after the double locking button 103 is opened, the height pressing plate 102 is pressed, and the vascular suture machine 107 slides up and down the double-tube column 105 without resistance along with the main support tube 108; when the desired position is reached, the height pressing plate 102 is released, and the tongue at the head end of the height pressing plate 102 is stuck on the height control rack tube 104. The height control rack tube 104 is a third round tube with a rack located at the rear end of the double-tube column 105. The double locking button 103 is used to ensure that a single loosening or forgetting to press will not cause problems.

[0070] For a more detailed description of the structure of the vascular suture machine, refer to Figures 6 to 12 Considering the usage scenario, the vascular suture machine is composed of a coaxial set. The central push rod tongue 21 of the circular shaft is placed in the center, and the outer periphery is sequentially slidably assembled from the inside layer by layer. The central push rod tongue 21 and the third push tube jaw 22 are combined into a first set of needle forceps; the second sleeve jaw 23 and the outer push tube tongue 24 form a second set of needle forceps; both sets of jaws use grooves with arcs matching the surgical needle. This type of jaw can ensure that the surgical needle is clamped stably, without twisting or slipping, and without operational omissions caused by human factors; the two jaws are designed at the same height, and each set of needle forceps The two sets of needle clamps can rotate through the axis, and can rotate from one side of a set of needle clamps to the other side; both sets of needle clamps can have the same rotation angle and can rotate back and forth; the rotation design angle is 290 degrees, and the surgical needle can be pushed and clamped to the necessary position. Through data programming, a mature existing program is adopted. When the first foot-operated control pedal 106 is stepped on, the program starts, and the first set of needle clamps inserts the needle into the blood vessel. The needle that passes through the blood vessel is clamped to the middle of the needle by the second set of needle clamps, and the needle is rotated to the rear end of the first set of needle clamps; the second set of needle clamps inserts the needle into the opened jaws of the first set of needle clamps ; The first jaw of the first set of needle forceps closes and clamps the surgical needle; at this time, the first set of needle forceps holds the needle at the front end of the needle, and the second set of needle forceps releases the second jaw and rotates to the rear end of the surgical needle without touching the surgical suture to clamp the surgical needle; the second set of needle forceps rotates forward a second time and sends the needle to the first jaw of the first set of needle forceps again, and the first set of needle forceps clamps the surgical needle and rotates to the initial angle. A suturing process can be automatically completed by opening and closing and rotating each jaw. The programming content belongs to the prior art and will not be repeated here, which realizes the same manual operation of the surgeon holding the forceps to suture the blood vessels After the suturing is completed and the second foot-operated control pedal 106 is stepped on, all the jaws open and stop moving and rotating. At this time, the operator can wait to disconnect the surgical thread after suturing, and then adjust the position of the device of the present invention to make it reach the next suturing position, and then step on the first foot-operated control pedal 106 to start a new suturing. The surgical needle is in a semicircular arc shape, and the rotation radius of the needle clamp assembly is consistent with the shape of the surgical needle. In this way, the damage to the blood vessel caused by the straight pulling of the arc needle can be reduced. The rotation of the needle holder of the present invention occupies a small space and the operation is precise.

[0071] Each cannula jaw that makes up two groups of needle forceps groups and the round shaft push rod tongue parts are respectively equipped with stepping motors, and the jaws are precisely opened and closed using a numerical control system; the doctor adjusts the blood vessel to be sutured to the best angle and sends it in front of the needles of the needle forceps group; just step on the start switch, and the first group of needle forceps of the blood vessel suture machine inserts the needle into the blood vessel. The needle passing through the blood vessel is clamped by the second group of needle forceps to the middle of the needle and rotates with the needle to the rear end of the first group of needle forceps; the second group of needle forceps sends the needle into the opened jaws of the first group of needle forceps; the jaws of the first group of needle forceps close to clamp the surgical needle; at this time, the first group of needle forceps holds the needle at the front end of the needle, and after the second group of needle forceps releases the jaws and rotates, it rotates to the rear end of the surgical needle without touching the surgical suture and clamps the surgical needle; the second group of needle forceps rotates forward again, sends the needle into the jaws of the first group of needle forceps again, and the first group of needle forceps clamps the needle and rotates to the initial angle to complete one suture and wait for the doctor's next operation.

[0072] In one embodiment, the foot-operated control pedal 106 is designed as a two-position pedal. The right side is the suture pedal, and the left side is to step on and release the two sets of jaws after the surgical suture is completed, and release the surgical needle for the doctor to take over and complete the operation by tying a knot with the surgical needle.

[0073] The following will be described in detail in conjunction with Figure 7 The assembly structure of the blood vessel suture machine 107 will be described in detail from top to bottom; the central push rod tongue 21 is located in the center. The central push rod tongue 21 includes a central main push rod 2104, which is clamped on the central push rod tongue groove 2106 by the central push rod snap ring 1; the central push rod tongue 21 is inserted into the central push rod mounting hole 202 of the central push rod fixing sleeve 2; the central push rod tongue sleeve fixing table 2105 limits the central push rod fixing sleeve 2; in this way, the front end of the central push rod fixing sleeve 2 is clamped with the central push rod snap ring 1, and the rear end is limited by the central push rod tongue sleeve fixing table 2105. The forward and backward movement of the central push rod fixing sleeve 2 drives the forward and backward movement of the central push rod tongue 21;

[0074] As Figure 8 described, the bearing outer sleeve of the central gear disk bearing 109 is fitted and installed in the central push rod bearing fixing and locking sleeve 8. The assembled central gear disk bearing 109 and the central push rod bearing fixing and locking sleeve 8 are installed at one end of the round tube of the central push rod gear disk 7. The bearing inner sleeve of the central gear disk bearing 109 is pressed against one side of the central push rod rotating gear disk bearing platform 703; the central gear disk bearing 109 is clamped in the central push rod groove 702 with a snap ring; then the central push rod tongue 21 is inserted into the tube of the central push rod gear disk 7; the D-shaped mounting hole 701 of the central push rod gear disk 7 of the central push rod gear disk 7 and the D-shaped head 2206 of the third cannula jaw tube are inserted; and they are locked at the bearing tightening sleeve thread 1306 of the double-bearing motor fixing sleeve 13 through the locking thread 802; then a crescent wrench in the prior art is used to hook the semi-circular head into the locking groove 803 to tighten the central push rod bearing fixing and locking sleeve 8. After tightening is completed, the semi-circular head of the crescent wrench is taken off.

[0075] Further, the center push rod rotation motor screw hole 1303 on the double-bearing motor fixing sleeve 13 with the bearing installed is used to install the center push rod rotation motor 10; the teeth at the head end of the center push rod rotation motor 10 are engaged with the teeth of the center push rod tooth disc 7; it is used to rotate the first group of needle pliers; install the center push rod motor 5 on the center push rod rotation tooth disc motor seat; install the center push rod tooth sleeve 4 on the center push rod rotation tooth disc teeth 705 on one side of the center push rod motor 5, and a rotating tooth is provided on the output shaft of the center push rod motor 5, and the rotating tooth is rotationally connected to the outside of the center push rod tooth sleeve 4, and the center push rod rotation tooth disc teeth 705 cooperate with the center push rod tooth sleeve nut 401 of the center push rod tooth sleeve 4; the center push rod tooth sleeve groove 403 on one side of the center push rod tooth sleeve 4 installs the wire bending arc snap ring 302 of the center push rod double snap ring 3; the wire head snap ring 303 on the other side of the center push rod double snap ring 3 is stuck in the center push rod double snap ring double groove 201; in this way, the rotational motion of the stepping motor center push rod motor 5 is converted into the forward and backward motion of the center push rod tongue 21. Taking the perspective of the drawings of the present invention as an example, the forward and backward motion of the center push rod tongue 21 of the present invention is equivalent to the downward or upward motion in the figure; when moving forward, the function of clamping the surgical needle is realized, and when moving backward, the forceps jaws can be opened to release the surgical needle, realizing the opening and closing action of the jaws of the first group of needle pliers; the outer forceps jaw rotation motor screw hole 1305 of the double-bearing motor fixing sleeve 13 is used to install the outer forceps jaw rotation motor 9, and the teeth at the head end of the outer forceps jaw rotation motor 9 are engaged with the teeth of the outer forceps jaw rotation tooth disc 17; it is used to rotate the second group of needle pliers.

[0076] Further, the center push rod tooth disc sliding disc mounting hole 704 and the center push rod power distribution sliding disc mounting hole 603 are fixed by screws; the motor connecting wire 601 on one side of the center push rod power distribution sliding disc 6 is connected to the center push rod motor 5; the annular conductive sheet 602 on the other side of the center push rod power distribution sliding disc 6 is in frictional contact conduction with the power distribution sliding sheet 12.

[0077] Further, the outer forceps jaw rotation motor screw hole 1305 fixes the center push rod rotation motor 10 by screws; install the outer forceps jaw fixed bearing 16 in the bearing fixing ring 1307; the outer forceps jaw fixed bearing 16 is tightly fitted on one side of the outer forceps jaw tooth disc convex ring 1705, and the snap ring 1901 of the outer forceps jaw connection double snap ring 19 is used to block it through the outer forceps jaw rotation tooth disc slot 1706; a convex-shaped wear-resistant bushing 110 is tightly fitted in the inner hole on one side of the outer forceps jaw rotation tooth disc slot 1706, and the wear-resistant bushing 110 is in sliding fit with the third push tube forceps jaw 22, and a snap ring is installed on one side of the wear-resistant bushing 110.

[0078] The outer jaw rotating motor 9 is fixed at the screw hole 1305 of the outer jaw rotating motor on the double-bearing motor fixing sleeve 13; the teeth of the outer jaw rotating motor 9 are engaged with the teeth of the outer jaw rotating gear disc 1703; when the outer jaw rotating motor 9 rotates, it can drive the outer jaw rotating gear disc 17 to rotate, and the second group of needle pliers at its head end rotates.

[0079] As Figure 10 shown, the outer push rod advancing tooth ring 18 is installed on the outer jaw rotating gear disc 17 by threads; one side of the steel wire ring of the outer jaw connecting double snap ring 19 is snapped into the ring groove of the outer push rod advancing tooth ring 18; the other side of the steel wire ring of the outer jaw connecting double snap ring 19 is snapped into the ring groove of the push tube tongue fixing sleeve 20; the gear of the outer jaw push rod motor 14 below is engaged with the outer push rod advancing tooth ring 18. In this way, when the outer jaw push rod motor 14 rotates, its gear drives the outer push rod advancing tooth ring 18 to rotate; because the outer jaw connecting double snap ring 19 is also stuck in the ring grooves of the push tube tongue fixing sleeve 20 and the outer push rod advancing tooth ring 18, and the push tube tongue fixing sleeve 20 and the second sleeve jaw 23 are in sliding fit, so when the outer jaw push rod motor 14 rotates to drive the outer push rod advancing tooth ring 18 to rotate, due to the tight fit between the push tube tongue fixing sleeve 20 and the outer push tube tongue 24; the internal thread of the outer push rod advancing tooth ring 18 rotates forward under the action of the external thread 1701 of the outer jaw rotating gear disc, pushing the push tube tongue fixing sleeve 20 and the outer push tube tongue 24 forward; when the outer jaw push rod motor 14 receives the reverse rotation signal from the control system and reverses, the internal thread of the outer push rod advancing tooth ring 18 reverses under the action of the external thread 1701 of the outer jaw rotating gear disc, and the outer push rod advancing tooth ring 18 retreats along with the thread, pulling the push tube tongue fixing sleeve 20 and the outer push tube tongue 24 back through the outer jaw connecting double snap ring 19. Because the outer push tube tongue 24 and the second sleeve jaw 23 are in sliding fit, there is no resistance for the second sleeve jaw 23.

[0080] See Figure 8 As shown in, when the outer jaw rotating motor 9 on the double-bearing motor fixing sleeve 13 rotates, the outer jaw rotating gear disc 17 engaged with the motor gear also rotates. Since the outer jaw rotating gear disc 17 and the second sleeve jaw 23 are tightly fitted, the square bar 2401 of the outer push tube tongue of the second sleeve jaw 23 and the outer push tube tongue 24 is inserted into the square through hole 2302 of the second sleeve jaw, and the second sleeve jaw 23 and the outer push tube tongue 24 rotate together; the second group of needle pliers rotates.

[0081] The rotation of the outer jaw push rod motor 14 drives the outer push rod advancing tooth ring 18 to rotate, driving the push tube tongue fixing sleeve 20 and the outer push tube tongue 24 to move forward and backward linearly, realizing the function of clamping and releasing the surgical needle of the second sleeve jaw 23.

[0082] The outer jaw conductive disk screw hole 1704 of the outer jaw rotating gear disk 17 fixes the outer jaw conductive rotating sliding disk 15; the conductive ring on the outer jaw conductive rotating sliding disk 15 makes frictional contact conduction with the arc-shaped sliding piece 1206; the wire on the outer jaw conductive rotating sliding disk 15 is connected to the outer jaw push rod motor 14.

[0083] Figure 14 The sectional view of the blood vessel suture machine 107 shown, the wear-resistant bushing 110 is made of polyketone POK, it is placed below the outer jaw fixed bearing 16 on the outer jaw rotating gear disk 17, and is located between the tube of the outer jaw rotating gear disk 17 and the third push tube jaw 22; the outer circle of the wear-resistant bushing 110 is in tight fit with the outer jaw rotating gear disk 17; the wear-resistant bushing 110 and the third push tube jaw 22 are in sliding fit; on one side of the wear-resistant bushing 110, the right-angle groove 2205 of the third push tube jaw 22 is fixed with a snap ring.

[0084] The center push rod tongue 21 is made of stainless steel or titanium alloy, and its shape is a long cylinder. One end is provided with an arc chamfer connecting groove, that is, the center push rod tongue groove 2106, which is used to install the center push rod snap ring 1; the lower end of the center push rod tongue groove 2106 is connected to the center push rod tongue sleeve fixing table 2105, and its shape can be machined by a five-axis precision engraving machine, which is used to hold the center push rod fixing sleeve 2, and when the center push rod fixing sleeve 2 is rotated and pulled backward by the center push rod gear sleeve 4 and the center push rod motor 5, the center push rod fixing sleeve 2 will push the stuck center push rod tongue 21 backward, so that the center push rod tongue 21 moves forward and backward; on the other side of the other end of the center push rod tongue 21, there is a center push rod head 2103 with an arc-shaped square structure, and there is a semi-circular arc groove structure head positioning groove 2102 axially at the top, which is used to cooperate with the positioning push rod pin 2202 of the third sleeve jaw tube; there is an arc-shaped semi-circular head needle groove 2101 on the front plane at the top, which is used to hold the surgical needle.

[0085] The third pushing tube jaw 22 is made of stainless steel or titanium alloy, in the shape of an oblong tube, with one side of the tube wall cut off at the head end, forming a D-shaped head 2206 of the third sleeve jaw tube with a D-shaped cross-section for tightly fitting into the D-shaped mounting hole 701 of the central push rod tooth disc; at the rear side of the tube is a right-angled groove 2205 for installing a snap ring to clamp onto the wear-resistant bushing 110; at one end of the circular ring on the other side is connected to a semi-circular square block 2204, with a hook at the top of the semi-circular square block 2204, and a needle clamping arc groove 2201 on the adjacent arc side of the hook, which is used to clamp the surgical needle; on the side plane of the hook, a pin mounting hole is opened, and the positioning push rod pin 2202 is slidably fitted. After inserting the central push rod tongue 21, the heads are aligned, and then the pin is installed for cooperation with the head positioning groove 2102 of the central push rod tongue 21. The central push rod head 2103 of the central push rod tongue 21 can only move forward and backward along the pin; the through hole 2203 of the oblong tube of the third pushing tube jaw is for the insertion of the central push rod tongue 21; the shape of the jaw can be machined by a five-axis precision engraving machine.

[0086] The second sleeve jaw 23 is made of stainless steel or titanium alloy, in the shape of an oblong tube, with a second sleeve jaw tube orifice 2304; at the rear end of the second sleeve jaw tube orifice 2304 is connected to a step 2303 for tightly fitting into the straight tube 1707 of the outer jaw rotating tooth disc; in the middle of the arc strip on one side of the circle at the other end of the oblong tube is a second sleeve jaw square through hole 2302 for inserting the square strip 2401 of the outer push tube tongue; at the front end of the arc is a right-angled hook, and there is an arc groove 2301 on the hook surface for clamping the surgical needle; the shape of the jaw can be machined by a five-axis precision engraving machine.

[0087] The outer push tube tongue 24 is made of stainless steel or titanium alloy, in the shape of an oblong tube, with a circle 2403 connected to the top, and a square strip 2401 of the outer push tube tongue connected to the circle 2403. At the top of the square strip 2401 of the outer push tube tongue is an arc groove 2402 of the outer push tube tongue for matching and clamping the surgical needle; the square strip 2401 of the outer push tube tongue is inserted into the second sleeve jaw square through hole 2302 on one side of the second sleeve jaw 23, and the arc groove 2402 of the outer push tube tongue of the outer push tube tongue 24 cooperates with the needle clamping arc groove 2201 of the second sleeve jaw 23 to form a surgical needle jaw.

[0088] The first set of needle forceps is composed of the central push rod tongue 21 and the third pushing tube jaw 22. The central push rod tongue 21 is inserted into the third pushing tube jaw 22, and the semi-circular structure head positioning groove 2102 at the top of the central push rod head 2103 is assembled and slid with the positioning push rod pin 2202 of the third sleeve jaw tube; the head ends of the central push rod tongue 21 and the third pushing tube jaw 22 are combined to form a surgical needle-shaped groove, which is used to clamp the surgical needle.

[0089] Figure 20 、 Figure 21As shown, the second set of needle forceps is composed of a second sleeve forceps jaw 23 and an outer push tube catch tongue 24. The second sleeve forceps jaw 23 is inserted into the outer push tube catch tongue 24, and the square bar 2401 of the outer push tube catch tongue outside the circle is inserted into the arc-shaped bar-shaped middle second sleeve forceps jaw square through hole 2302; the second sleeve forceps jaw 23 and the outer push tube catch tongue 24 are combined. After combination, the arc groove 2301 of the forceps jaw and the arc-shaped groove 2402 of the outer push tube catch tongue are combined for clamping the surgical needle.

[0090] The material of the central push rod tooth disc 7 is stainless steel or titanium alloy. Its shape is that the outer circle of a circular tube is provided with a stepped platform and a circular tooth disc structure. One end of the circular tube is provided with a D-shaped mounting hole of the central push rod tooth disc for press-fitting with the D-shaped head of the third sleeve forceps jaw tube; the central push rod groove 702 is used for installing a snap ring; the central push rod rotating tooth disc bearing platform 703 is used for installing the central tooth disc bearing 109, and a bearing fixing snap ring 1091 is provided on the central tooth disc bearing 109; the central push rod rotating tooth disc sliding disc has four central push rod tooth disc sliding disc mounting holes 704 for installing the central push rod distributor sliding disc 6; the central push rod rotating tooth disc teeth 705 are used for meshing with the gear on the central push rod rotating motor 10; the two screw holes 706 on the long round platform of the central push rod rotating tooth disc are used for installing the central push rod motor 5; the central push rod rotating tooth disc push rod teeth 707 are used for installing the central push rod tooth sleeve 4; the inside of the central push rod rotating tooth disc tube 708 is used for inserting the central push rod catch tongue 21.

[0091] Figure 26 As shown, the material of the outer forceps jaw rotating tooth disc 17 is stainless steel or titanium alloy. Its shape is that the outer circle of a circular tube is provided with a stepped platform and a circular tooth disc; the external thread 1701 of the outer forceps jaw rotating tooth disc is used for installing the outer push rod advancing tooth ring 18; the motor fixing screw hole 1702 is used for installing the outer forceps jaw push rod motor 14; the outer forceps jaw rotating tooth disc engaging teeth 1703 are used for meshing with the gear on the outer forceps jaw rotating motor 9; the outer forceps jaw tooth disc conductive disc screw hole 1704 is used for installing the outer forceps jaw conductive rotating sliding disc 15; the outer forceps jaw tooth disc convex ring 1705 is used for fixing the outer forceps jaw fixed bearing 16; the outer forceps jaw rotating tooth disc card slot 1706 is used for installing the bearing fixing snap ring 1091; the straight tube 1707 of the outer forceps jaw rotating tooth disc is used for inserting into the second sleeve forceps jaw 23 for tight fit.

[0092] Figure 27As shown, the material of the double-bearing motor fixing sleeve 13 is stainless steel or titanium alloy. Its shape is a round tube with three cylinders on the outer circle and shell mounting screw holes, namely the first shell mounting screw hole 1301, the second shell mounting screw hole 1302, and the third shell mounting screw hole 1304, which are used to install and fix the shell 25 of the blood vessel suture machine. In addition, there are two oblong bosses forming a 90° angle with the cylinders of the screw holes, and oblong platforms are arranged in a mutually staggered manner on the outer side of the round tube, and there are two screw holes on the platforms. Among them, the central push rod rotating motor screw hole 1303 is used to fix the central push rod rotating motor 10; the outer jaw rotating motor screw hole 1305 on the other platform is used to install the outer jaw rotating motor 9; the other end of the round tube is the outer jaw rotating motor screw hole, which is used to install the central push rod bearing fixing and locking sleeve 8; on one side inside the round tube, there is an annular ring, the bearing fixing ring 1307, which is used to install the outer ring of the outer jaw fixing bearing 16; on one side of the two cylinders, there is an electric slide piece mounting table 1308, and there are screw holes on it, which are used to install the sub-electric slide piece 12.

[0093] Figure 28 As shown, the central push rod sub-electric slide disk 6 is made of a combination of insulating plastic and copper. Its shape is that there are four screw mounting holes at the edge of the central round hole of the disk, namely the central push rod sub-electric slide disk mounting holes 603, which are used to install on the central push rod gear disk 7; on one side of the disk, there is an annular conductive sheet 602; there is also a copper conductive ring 604 on the round edge, which are respectively used for sliding conduction with the sub-electric slide piece 12; on the other side of the disk, there are four motor connection wires 601, which are used to install on the central push rod motor 5.

[0094] Figure 29 As shown, the sub-electric slide piece 12 is made of a combination of insulating plastic and copper. Its shape is rectangular, and there are four independent L-shaped grooves on each side, which are used to install copper conductive sheets. There are side slide pieces 1201 on both sides of the sub-electric slide piece 12 and six arc-shaped slide pieces 1206 on both sides. The side slide piece 1201 is used for conduction of the central push rod sub-electric slide disk 6, and the arc-shaped slide pieces 1206 are used for sliding conduction on the side and edge of the disk of the outer jaw conductive rotating disk 15; there are two slide piece mounting holes 1202 for fixing the sub-electric slide piece 12 in the middle of the square, which are used to install on the electric slide piece mounting table 1308 of the double-bearing motor fixing sleeve 13; the slide piece wires 1203 are respectively connected to the wires of each slide piece; the slide piece base 1205 of the sub-electric slide piece 12 is installed on the electric slide piece mounting table 1308 of the double-bearing motor fixing sleeve 13, and there are screw holes on it; the main wire 1204 is led out and connected outside the blood vessel suture machine 107, and then installed on the display control box 101, which is used for motor power supply and numerical control signals.

[0095] Figure 30As shown, the material of the central push rod tooth sleeve 4 is stainless steel or titanium alloy, and its shape is a circular tube. Inside the circular tube is the central push rod tooth sleeve nut 401, which is used to be installed on the push rod tooth of the central push rod rotating tooth disc 707 of the central push rod tooth disc 7; on one side of the outer side of the circular tube is a straight tooth ring 402, which is used to mesh with the gear on the central push rod motor 5; on the other side is the central push rod tooth sleeve groove 403, which is used to install one side wire head snap ring 303 of the central push rod double snap ring 3.

[0096] Figure 31 As shown, the central push rod fixed sleeve 2, its material is stainless steel or titanium alloy, and its shape is a central circular tube convex ring 203, which is used to place the central push rod snap ring 1; on one side of the circular tube there is a double snap ring double groove 201 of the central push rod, which is used to place the central push rod double snap ring 3; the central push rod mounting hole 202 is for the insertion of the cylinder of the central push rod tongue 21.

[0097] Figure 32 As shown, the central push rod double snap ring 3 is made of stainless steel or spring steel; its shape is as shown in the figure, including a right-angle wire bend 301 formed after a wire arc is bent 120°, and after being bent four times, it is concentric and of the same diameter as the wire bend arc snap ring 302, and is bent into a symmetric shape. The two ends of the wire are folded 90° outwards to form a wire head snap ring 303. The head ends are smooth and free of burrs to prevent jamming and scraping with the assembled parts, and the two ends can also be welded and polished; the wire bend arc snap ring 302 is used to be installed in the double snap ring double groove 201 of the central push rod fixed sleeve 2; the wire head snap ring 303 is used to be stuck in the central push rod tooth sleeve groove 403 of the central push rod tooth sleeve 4; for the two parts clamped by the central push rod double snap ring 3, among them, the central push rod tooth sleeve 4 meshes with the gear on the central push rod motor 5 and is rotated. While the central push rod tooth sleeve 4 rotates, it also moves forward and backward along the thread. Its thread is that the central push rod tooth sleeve 4 is installed on the push rod tooth of the central push rod rotating tooth disc 707; the central push rod fixed sleeve 2 does not need to rotate, and the wire head snap ring 303 rotates and slides in the double snap ring double groove 201 of the central push rod fixed sleeve 2; and the wires bent on both sides of the central push rod double snap ring 3 restrict the distance between the two parts, so that the central push rod fixed sleeve 2 moves forward and backward. The central push rod fixed sleeve 2 also drives the central push rod head 2103 of the central push rod tongue 21 to move forward and backward through the central push rod tongue 21 to clamp the surgical needle.

[0098] Figure 33 As shown, the central push rod bearing fixing and locking sleeve 8, its material is stainless steel or titanium alloy, and its shape is an external thread inner hole connected to an inner convex circle. One side of the outer convex platform has evenly distributed grooves, including a central tooth disc bearing fixing platform 801, a locking thread 802, and a locking groove 803, which are used to lock the central tooth disc bearing 109 and the central push rod tooth disc 7 to the bearing tightening thread 1306 of the double bearing motor fixing sleeve 13 through threads.

[0099] In the present invention, specific examples are used to illustrate the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A vascular suture machine, characterized in that: Comprising: A sewing machine body; A first set of needle pliers, mounted on the sewing machine body, a first jaw matching the curvature of the surgical needle is provided at the bottom of the first set of needle pliers, the first set of needle pliers can reciprocally rotate around its central axis, and the first jaw can open and close, and the surgical needle can be fixedly clamped when the first jaw is closed; A second set of needle pliers, mounted on the sewing machine body and sleeved outside the first set of needle pliers, a second jaw matching the curvature of the surgical needle is provided at the bottom of the second set of needle pliers, the second set of needle pliers can reciprocally rotate around its central axis, and the second jaw can open and close, and the surgical needle can be fixedly clamped when the second jaw is closed; the height of the second jaw is the same as the height of the first jaw; A control mechanism, capable of respectively controlling the rotation of the first set of needle pliers and the second set of needle pliers, and capable of respectively controlling the opening and closing of the first jaw and the opening and closing of the second jaw.

2. The vascular suture machine according to claim 1, wherein: The first set of needle pliers includes a central push rod tongue and a third push tube jaw arranged coaxially, the third push tube jaw is sleeved outside the central push rod tongue, and the bottom of the central push rod tongue and the bottom of the third push tube jaw form the first jaw; the second set of needle pliers includes a second sleeve jaw and an outer push tube tongue arranged coaxially, and the second sleeve jaw is sleeved outside the lower part of the third push tube jaw, the outer push rod tongue is sleeved outside the second sleeve jaw, and the bottom of the outside of the second sleeve jaw and the bottom of the outer push rod tongue form the second jaw.

3. The vascular suture machine according to claim 2, wherein: The central push rod tongue is a cylindrical structure, one end of which is fixedly connected with a central push rod tongue sleeve fixing table, the central push rod tongue sleeve fixing table is a cylindrical structure, and the diameter of the central push rod tongue sleeve fixing table is smaller than the diameter of the central push rod tongue. A central push rod tongue groove is annularly provided at one end of the central push rod tongue sleeve fixing table away from the central push rod tongue; an arc-shaped central push rod head is fixedly connected to the side wall of one end of the central push rod tongue away from the central push rod tongue sleeve fixing table, and a head positioning groove with a semi-circular groove structure is provided at the end of the central push rod head; a head needle groove is provided at a position near the inner side of the head positioning groove at the end of the central push rod head; The third push tube jaw is of a circular tube structure. One end of the third push tube jaw is provided with a D-shaped head of a third sleeve jaw tube. An axial incision is formed in the side wall of the D-shaped head of the third sleeve jaw tube, and the virtual plane where the axial incision is located is parallel to the plane where the axis of the third push tube jaw is located; a right-angled groove is arranged between the D-shaped head of the third sleeve jaw tube and the third push tube jaw; a circular ring is fixedly sleeved at one end of the third push tube jaw far away from the D-shaped head of the third sleeve jaw tube. One side of the circular ring is connected with a semi-circular block body. The end of the semi-circular block body is provided with a top hook. An arc-shaped groove is arranged on the arc-shaped side adjacent to the semi-circular block body on the top hook; a pin mounting hole is formed in the side plane of the semi-circular block body, and a pin is slidably arranged in the pin mounting hole. The area between the card head needle groove and the arc-shaped groove forms the first jaw. The pin is slidably connected with a card head positioning groove of the center push rod tongue, and the card head positioning groove moves along the axial direction of the pin, so as to realize the abutment or separation between the card head needle groove and the arc-shaped groove.

4. The blood vessel suture machine according to claim 3, wherein: The second sleeve jaw is of a circular tube structure. One end of the second sleeve jaw is provided with a tube orifice, the diameter of the tube orifice is smaller than the diameter of the second sleeve jaw, and a step is arranged at the connection position between the tube orifice and the third push tube jaw; a ring is fixedly sleeved on the other side of the second sleeve jaw, and a sleeve jaw arc-shaped groove is fixedly arranged on the side wall of the ring. The end of the sleeve jaw arc-shaped groove is provided with a right-angled hook; a rectangular hole is formed in the middle of the sleeve jaw arc-shaped groove; The outer push tube tongue is of a circular tube structure. One end of the outer push rod tongue is provided with an outer push rod tongue tube orifice, and an outer push rod tongue square bar is fixedly arranged on the side wall of the outer push rod tongue tube orifice. An outer push tube tongue arc-shaped groove is formed at the end of the outer push rod tongue square bar; the outer push rod tongue square bar can be inserted into the rectangular hole of the second sleeve jaw; the area between the right-angled hook of the sleeve jaw arc-shaped groove and the outer push tube tongue arc-shaped groove forms the second jaw; the outer push rod tongue square bar moves up and down along the rectangular hole to open or close the second jaw.

5. The vascular suture machine according to claim 4, characterized in that: The sewing machine body includes a blood vessel sewing machine housing. The center push rod tongue is located at the center position of the blood vessel sewing machine housing, and a center push rod clamping ring is clamped on the center push rod tongue groove; one end of the center push rod tongue close to the center push rod tongue sleeve fixing platform penetrates through the center push rod mounting hole of the center push rod fixing sleeve; the center push rod fixing sleeve is located between the center push rod clamping ring and the center push rod tongue sleeve fixing platform, and when the center push rod fixing sleeve moves axially, it can drive the center push rod tongue to move synchronously; A central push rod gear disc is sleeved outside the first group of needle forceps. A central push rod motor is installed on the central push rod rotating gear disc motor seat of the central push rod gear disc; a central push rod tooth sleeve is installed on the teeth of the central push rod rotating gear disc of the central push rod gear disc, and the teeth of the central push rod rotating gear disc are matched with the central push rod tooth sleeve nut of the central push rod tooth sleeve; a rotating tooth is arranged on the output shaft of the central push rod motor, and the rotating tooth is rotationally connected to the outside of the central push rod tooth sleeve; a wire arc snap ring of a central push rod double snap ring is connected to the central push rod tooth sleeve groove at one end of the central push rod tooth sleeve; the wire head snap ring of the central push rod double snap ring is stuck in the double snap groove of the central push rod double snap ring of the central push rod fixed sleeve; when the output shaft of the central push rod motor rotates, it can drive the central push rod tooth sleeve to rotate synchronously. When the central push rod tooth sleeve rotates, it can axially move along the teeth of the central push rod rotating gear disc. During the movement, the central push rod fixed sleeve is driven to axially move through the central push rod double snap ring; A round tube is arranged at the lower end of the central push rod gear disc. A central gear disc bearing and a central push rod bearing fixing and locking sleeve are installed at the round tube. The central push rod bearing fixing and locking sleeve can lock the central gear disc bearing and the central push rod gear disc to the bearing tightening thread of the double bearing motor fixing sleeve through threads. The double bearing motor fixing sleeve is installed on the shell of the blood vessel suture machine; the central push rod rotating motor mounting hole of the double bearing motor fixing sleeve is used to install the central push rod rotating motor; the teeth at the head end of the central push rod rotating motor are meshed with the teeth of the central push rod gear disc, and the central push rod rotating motor is used to rotate the first group of needle forceps.

6. The blood vessel suture machine according to claim 5, wherein: The outer jaw rotating motor screw hole of the double bearing motor fixing sleeve is used to install the outer jaw rotating motor. The teeth at the head end of the outer jaw rotating motor are meshed with the teeth of the outer jaw rotating gear disc to rotate the second group of needle forceps; an outer jaw fixed bearing is installed in the bearing fixing circle of the double bearing motor fixing sleeve; the outer jaw fixed bearing is cooperatively installed on one side of the outer jaw disc convex ring of the outer jaw rotating gear disc and is stuck by the outer jaw rotating gear disc groove of the outer jaw rotating gear disc; a wear-resistant bushing with a convex structure is cooperatively installed in the inner hole at one end of the outer jaw rotating gear disc groove. The wear-resistant bushing is slidably matched with the third sleeve jaw tube, and a snap ring is installed on one side of the wear-resistant bushing; The outer jaw rotating motor hole of the double bearing motor fixing sleeve fixes the outer jaw rotating motor; the teeth of the outer jaw rotating motor are meshed with the outer jaw rotating gear disc teeth of the outer jaw rotating gear disc; when the outer jaw rotating motor rotates, it can drive the outer jaw rotating gear disc to rotate and drive the second group of needle forceps to rotate synchronously; An external push rod advancing tooth ring is threadedly installed on the external jaw rotating tooth disc; one wire ring of the double snap ring connected to the external jaw is snapped into the ring groove of the external push rod advancing tooth ring; the other wire ring of the double snap ring connected to the external jaw is snapped into the ring groove of the push tube tongue fixing sleeve; the gear of the external jaw push rod motor meshes with the external push rod advancing tooth ring. When the external jaw push rod motor rotates, its gear drives the external push rod advancing tooth ring to rotate; the internal thread of the external push rod advancing tooth ring rotates forward under the action of the thread of the external jaw rotating tooth disc, pushing the push tube tongue fixing sleeve and the external push tube tongue forward; when the external jaw push rod motor rotates in reverse, the internal thread of the external push rod advancing tooth ring reverses under the action of the thread of the external jaw rotating tooth disc, and the external push rod advancing tooth ring retreats along with the thread, pulling the push tube tongue fixing sleeve and the external push tube tongue backward through the double snap ring connected to the external jaw; realizing the closing or opening of the second group of needle jaws.

7. A vascular suture device, characterized in that: It includes a display control box, a double-tube column, a foot-operated control pedal, a main machine support tube, and a blood vessel suture machine as described in any one of claims 1 to 6. The blood vessel suture machine is installed on the main machine support tube, and the main machine support tube is slidably arranged on the double-tube column, and the position of the main machine support tube on the double-tube column can be adjusted; a display is provided on the display control box, which can display the working interfaces of the first jaw and the second jaw; the control mechanism includes a foot-operated control pedal, and the foot-operated control pedal can respectively control the rotation of the first group of needle jaws and the second group of needle jaws, and can respectively control the opening and closing of the first jaw and the opening and closing of the second jaw.

8. The vascular suture device according to claim 7, wherein: It further includes a control height rack tube, the control height rack tube is located at the rear end of the double-tube column, and a height pressing plate is provided on the upper part of the main machine support tube, and the end of the height pressing plate can be clamped on the control height rack tube.

9. The vascular suture device machine according to claim 7, wherein: It further includes a double locking button, the double locking button is provided on the lower part of the main machine support tube, and the double locking button can be fixedly abutted against the side wall of the double-tube column.

10. The vascular suture device according to claim 7, wherein: It further includes a power distribution slide piece and a central push rod power distribution slide disc; an electric slide piece installation platform is provided on the double bearing motor fixing sleeve, and the electric slide piece installation platform is used for installing the power distribution slide piece; the central push rod power distribution slide disc is installed on the central push rod tooth disc; the central push rod power distribution slide disc is provided with an annular conductive sheet and a copper conductive ring, and the annular conductive sheet and the copper conductive ring are respectively used for sliding electrical connection with the power distribution slide piece; a motor connecting wire is provided on the central push rod power distribution slide disc, which is used for connecting to the central push rod motor; both sides of the power distribution slide piece are respectively provided with a side slide piece and an arc-shaped slide piece, the side slide piece is used for sliding conduction of the central push rod power distribution slide disc, and the arc-shaped slide piece is used for sliding conduction of the external jaw conductive rotating slide disc, and the wire on the external jaw conductive rotating slide disc is connected to the external jaw push rod motor; the main line of the power distribution slide piece is led out and connected outside the blood vessel suture machine, and then installed on the display control box; the display control box is electrically connected to the foot-operated control pedal.

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