A suture ligating device for thoracoscopic surgery based on pressure feedback

Abstract

The application relates to the field of medical tools, in particular to a thoracoscope surgery suturing and ligating device based on pressure feedback, which comprises a positioning clamp, a suture needle, a driving piece, two elastic rod pieces, an abutting piece and a pressure feedback unit; one end of the positioning clamp is connected with an adapter seat, the other end is provided with an annular surface, the side, away from the adapter seat, of the annular surface is provided with a suturing opening, so that the end, away from the adapter seat, of the positioning clamp forms two supporting ends; the suture needle is arranged in the positioning clamp in a bent mode and is attached to the annular surface, both ends of the suture needle can be inserted into or out of the two supporting ends of the positioning clamp, and the suture needle is used for suturing a wound in the suturing opening; the driving piece is installed in the positioning clamp and is used for driving the suture needle to rotate clockwise or counterclockwise along the bending direction of the annular surface; the two elastic rod pieces are arranged at the two supporting ends of the positioning clamp respectively, and an included angle between the two elastic rod pieces is formed and faces the adapter seat; and the abutting piece is arranged at the opposite ends of the two elastic rod pieces.

Description

Technical Field

[0001] This invention relates to the field of medical tools, and in particular to a suture and ligation device for thoracoscopic surgery based on pressure feedback. Background Technology

[0002] Thoracoscopic surgery, as one of the core techniques of minimally invasive surgery, has advantages such as minimal trauma, rapid postoperative recovery, and fewer complications, and has been widely used in intrathoracic procedures such as lobectomy, esophageal surgery, and mediastinal tumor resection. However, the complex anatomical structure within the thoracic cavity and the limited surgical field place extremely high demands on the precision and safety of suturing and ligation techniques.

[0003] Current suture and ligation instruments used in thoracoscopic surgery have the following key technical challenges:

[0004] Traditional instruments are mostly straight or have a fixed curved angle, which makes it difficult to fit the curved surface of the chest cavity. Doctors need to repeatedly adjust the position with long-handled instruments, which not only prolongs the operation time, but also easily causes tissue traction damage due to operational errors.

[0005] Doctors rely entirely on manual control to apply pressure to the tissue with instruments. If the pressure is too high, it can easily cause lung tissue rupture and blood vessel contusion; if the pressure is too low, the suture may shift, resulting in loose sutures, postoperative air leakage, or bleeding.

[0006] Existing instruments mostly use a single power source to drive the suture needle, which is prone to uneven driving force, resulting in suture needle jamming or suture path deviation, increasing the risk of secondary suturing;

[0007] Although some instruments are equipped with elastic abutment structures, the assembly of the elastic components and the positioning frame is loose, which makes them prone to lateral displacement when abutting the tissue, making it impossible to stably maintain the relative position of the suture and reducing the accuracy of suturing.

[0008] If the connection between the needle and suture is not properly arranged, or if there is a lack of a dedicated guiding structure, the suture may become stuck or fall off, requiring the surgery to be interrupted for adjustment, which increases the risk of infection. Summary of the Invention

[0009] Based on this, it is necessary to provide a pressure feedback-based suturing and ligation device for thoracoscopic surgery to address the above-mentioned technical problems. This device integrates a pressure feedback unit into the suturing device for the first time, solving the problem of "no pressure sensing" in traditional instruments, reducing the risk of tissue damage, and improving surgical safety. The structure of the annular surface and the suture opening ensures that the suture needle always moves along an arc-shaped trajectory that conforms to the tissue surface, avoiding deviation of the suture path.

[0010] This invention provides a pressure feedback-based suture and ligation device for thoracoscopic surgery, comprising:

[0011] The positioning clip has one end connected to the adapter and the other end provided with an annular surface. The side of the annular surface away from the adapter has a sewing opening, so that the end of the positioning clip away from the adapter forms two support ends.

[0012] A suture needle is bent and positioned inside the positioning clamp and fits against the annular surface. Both ends of the suture needle can be inserted into or out of the two branches of the positioning clamp to suture the wound inside the suture opening.

[0013] A driving component, installed inside the positioning clamp, is used to drive the sewing needle to rotate clockwise or counterclockwise along the bending direction of the annular surface;

[0014] Two elastic rods are respectively disposed at the two ends of the positioning clamp, and the two elastic rods form an angle between them with the opening facing the adapter.

[0015] A stop member is provided at one end opposite to the two elastic rods;

[0016] The pressure feedback unit is located at the end near the elastic rod and away from the abutment.

[0017] In one embodiment, the positioning clip includes a main frame and side frames. One end of the main frame is connected to the adapter, which is used to connect an external extension device. The other end of the main frame is connected to two side frames. A gap is left between the ends of the two side frames away from the main frame to form the suture opening. The inner surfaces of the two side frames face the suture opening and form the annular surface.

[0018] In one embodiment, the main frame and the side frame are internally connected, and the side frame has a mounting groove at one end away from the main frame. The mounting groove is curved, and the center of the curve coincides with the central axis of the annular surface. The sewing needle is installed in the mounting groove.

[0019] In one embodiment, a through groove is provided at the center line of the annular surface, the through groove extends to the mounting groove, one side of the suture needle is always facing the through groove, one end of the suture needle is used to puncture the wound skin, and the other end of the suture needle is used to connect the suture thread.

[0020] In one embodiment, two drive components are provided, which are symmetrically fixed inside the main frame, and the drive end of the drive component contacts the surface of the suture needle to push the suture needle to rotate around the central axis of the annular surface.

[0021] In one embodiment, the distance between the two ends of the needle is less than the maximum distance between the driving ends of the two driving members.

[0022] In one embodiment, the side frame is provided with a first mounting hole at the end away from the main frame. The first mounting hole is arranged in a straight line and extends to the outer side of the side frame. The side of the side frame is provided with a mounting plate and a positioning ring. The plate surface of the mounting plate is directly opposite the first mounting hole, and a second mounting hole is provided on the surface of the mounting plate. The positioning ring is located between the second mounting hole and the first mounting hole.

[0023] In one embodiment, the elastic rod includes a movable rod, a positioning plate, and a spring; the movable rod is inserted into the first mounting hole, the positioning plate is sleeved on the movable rod, and the positioning plate is located between the mounting plate and the positioning ring; the two ends of the spring abut against the mounting plate and the positioning plate, respectively.

[0024] In one embodiment, the abutment includes a top plate and side plates; the top plate faces the end of the side frame, and the two side plates are respectively connected to the two ends of the top plate. A slot is provided at the connection between the end of the side frame and the side, and the side plates are used to engage in the slot. A through-hole is provided on the surface of the top plate, and the through-hole extends through the top plate on the side near the suture opening to provide space for the suture needle to pass through.

[0025] In one embodiment, the pressure feedback unit includes a pressure sensor and a sensing end; the pressure sensor is disposed on the side of the mounting plate away from the positioning ring, the sensing end is disposed in the second mounting hole, and one end of the sensing end is connected to the pressure sensor, while the other end protrudes from the second mounting hole.

[0026] The aforementioned pressure feedback-based suture and ligation device for thoracoscopic surgery connects to a dedicated external extension device for thoracoscopic surgery via an adapter at one end of the positioning clamp. This ensures the device can move flexibly within the thoracic cavity. Adjusting the device's orientation aligns the "suture opening" at the end of the positioning clamp away from the adapter with the wound to be sutured. At this point, due to the "angle between the openings facing the adapter," the abutments at the ends of the two elastic rods naturally conform to the tissue surfaces on both sides of the wound, achieving initial fixation through elastic force. Activating the drive mechanism within the positioning clamp causes the curved suture needle to rotate clockwise or counterclockwise along the bending direction of the annular surface; the two ends of the suture needle alternately insert / receive during rotation. The two ends of the positioning clip are inserted sequentially to puncture the tissue on both sides of the wound, completing the suture. During the suture process, the pressure feedback unit monitors the pressure changes of the end of the elastic rod furthest from the abutment in real time and transmits the data to an external display device. The doctor adjusts the operating force of the external device based on the pressure data to avoid excessive or insufficient pressure. This device is the first to integrate a pressure feedback unit into the suture device, solving the problem of "no pressure sensing" in traditional instruments, reducing the risk of tissue damage, and improving surgical safety. The structure of the annular surface and the suture opening ensures that the suture needle always moves along the arc-shaped trajectory that conforms to the tissue surface, avoiding suture path deviation. The angled design of the elastic rod ensures that the abutment is stably attached to the tissue, preventing suture opening displacement. The adapter can be used to adapt to external extension devices and existing thoracoscopic surgical systems without the need to change to special instruments, reducing surgical learning costs. The drive unit automatically drives the suture needle, reducing the doctor's manual operation intensity and shortening the operation time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A three-dimensional structural schematic diagram of the suture and ligation device provided by the present invention;

[0029] Figure 2 This is a cross-sectional structural diagram of the suture and ligation device provided by the present invention;

[0030] Figure 3 This is a schematic diagram of the planar structure of the suture and ligation device provided by the present invention;

[0031] Figure 4 One of the three-dimensional structural schematic diagrams of the positioning clip provided by the present invention;

[0032] Figure 5 The second three-dimensional structural schematic diagram of the positioning clip provided by the present invention;

[0033] Figure 6 A schematic diagram of the planar structure of the positioning frame provided by the present invention;

[0034] Figure 7 This is a structural schematic diagram of the elastic rod and abutment member provided by the present invention.

[0035] Figure label:

[0036] 100. Positioning clamp; 110. Main frame; 120. Side frame; 121. Mounting slot; 122. Through slot; 123. First mounting hole; 124. Slot; 125. Annular surface; 126. Seam opening; 130. Mounting plate; 131. Second mounting hole; 140. Positioning ring; 200. Adapter seat; 300. Needle; 400. Drive component; 500. Elastic rod; 510. Movable rod; 520. Positioning plate; 530. Spring; 600. Abutment component; 610. Top plate; 611. Through opening; 620. Side plate; 700. Pressure feedback unit; 710. Pressure sensor; 720. Sensing end. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The following is combined Figures 1 to 7 This invention describes a pressure feedback-based suture and ligation device for thoracoscopic surgery.

[0039] like Figures 1 to 3As shown, in one embodiment, a pressure feedback-based suture and ligation device for thoracoscopic surgery includes a positioning clamp 100, a suture needle 300, a driving member 400, two elastic rods 500, an abutment member 600, and a pressure feedback unit 700. One end of the positioning clamp 100 is connected to an adapter 200, and the other end is provided with an annular surface 125. A suture opening 126 is provided on the side of the annular surface 125 away from the adapter 200, forming two supports at the end of the positioning clamp 100 away from the adapter 200. The suture needle 300 is bent and disposed within the positioning clamp 100, conforming to the annular surface 125. Both ends can be inserted into or out of the two supports of the positioning clamp 100 to suture the wound within the suture opening 126; the driving member 400 is installed inside the positioning clamp 100 to drive the suture needle 300 to rotate clockwise or counterclockwise along the bending direction of the annular surface 125; two elastic rods 500 are respectively disposed at the two supports of the positioning clamp 100, and the two elastic rods 500 form an angle with an opening facing the adapter 200; the abutment member 600 is disposed at the opposite end of the two elastic rods 500; the pressure feedback unit 700 is disposed at the end closer to the elastic rods 500 and further away from the abutment member 600.

[0040] The aforementioned pressure feedback-based suture and ligation device for thoracoscopic surgery connects to a dedicated external extension device for thoracoscopic surgery (such as a control lever or robotic arm) via an adapter 200 at one end of the positioning clamp 100. This ensures the device can move flexibly within the thoracic cavity. Adjusting the device's posture, the "suture opening 126" at the end of the positioning clamp 100 away from the adapter 200 is aligned with the wound to be sutured. At this point, due to the "angle between the openings facing the adapter 200," the abutment members 600 at the ends of the two elastic rods 500 naturally conform to the tissue surfaces on both sides of the wound, achieving initial fixation through elastic force. Activating the drive unit 400 within the positioning clamp 100 causes the curved suture needle 300 to rotate clockwise or counterclockwise along the bending direction of the annular surface 125. The two ends of the suture needle 300 alternately insert / retract with the rotation. The two ends of the positioning clip 100 are inserted sequentially to puncture the tissue on both sides of the wound, completing the suture. During the suture process, the pressure feedback unit 700 monitors the pressure changes of the end of the elastic rod 500 away from the abutment 600 in real time and transmits the data to an external display device. The doctor adjusts the operating force of the external device according to the pressure data to avoid excessive or insufficient pressure. This device is the first to integrate the pressure feedback unit 700 into the suture device, solving the problem of "no pressure sensing" in traditional instruments, reducing the risk of tissue damage, and improving surgical safety. The structure of the annular surface 125 and the suture opening 126 ensures that the suture needle 300 always moves along the arc trajectory that conforms to the tissue surface, avoiding suture path deviation. The angle design of the elastic rod 500 ensures that the abutment 600 is stably attached to the tissue, preventing the suture opening 126 from shifting. The adapter 200 is used to adapt to external extension devices and is compatible with existing thoracoscopic surgical systems, eliminating the need to change to special instruments and reducing surgical learning costs. The drive unit 400 automatically drives the suture needle 300, reducing the doctor's manual operation intensity and shortening the operation time.

[0041] In one embodiment, the positioning clip 100 includes a main frame 110 and side frames 120. One end of the main frame 110 is connected to an adapter 200 for connecting an external extension device. The other end of the main frame 110 is connected to two side frames 120. A gap is left between the ends of the two side frames 120 away from the main frame 110 to form a suture opening 126. The inner surfaces of the two side frames 120 face the suture opening 126 and form an annular surface 125.

[0042] Specifically, one end of the main frame 110 of the positioning clamp 100 is connected to the adapter 200, and the other end of the main frame 110 is connected to two side frames 120. The two side frames 120 have a gap at the end away from the main frame 110 to form a "suture opening 126". The inner surface of the side frame 120 faces the suture opening 126, together forming an annular surface 125 that fits the tissue. Different sizes of thoracoscopic operating rods or robotic arms are connected through the adapter 200. The main frame 110 acts as a "force transmission center" to ensure that the posture of the side frame 120 is synchronized with the operation of the external equipment.

[0043] like Figure 4 and Figure 5 As shown, in one embodiment, the main frame 110 and the side frame 120 are internally connected. The side frame 120 is provided with a mounting groove 121 at the end away from the main frame 110. The mounting groove 121 is curved, and the center of the curve coincides with the central axis of the annular surface 125. The sewing needle 300 is installed in the mounting groove 121.

[0044] Specifically, the main frame 110 and the side frame 120 are internally connected to form a "power and signal transmission channel" (such as the control line of the drive unit 400 and the signal line of the pressure feedback unit 700 can be hidden inside to avoid contact with tissue); a curved mounting groove 121 is opened at the end of the side frame 120 away from the main frame 110, and the bending center of the mounting groove 121 coincides with the central axis of the annular surface 125; the suture needle 300 is installed in the mounting groove 121, and its rotation trajectory is completely limited by the mounting groove 121 and is consistent with the arc of the annular surface 125; when the drive unit 400 drives the suture needle 300, the suture needle 300 slides along the inner wall of the mounting groove 121 to avoid trajectory deviation caused by the resistance of the tissue in the thoracic cavity.

[0045] The coaxial design of the mounting groove 121 and the annular surface 125 ensures that the rotation trajectory of the suture needle 300 perfectly conforms to the arc of the tissue surface, solving the problem of "suture deviation caused by suturing needle 300 shaking" in traditional instruments. The connected internal space can accommodate the drive line and signal line, avoiding the lines from being exposed in the tissue (reducing tissue irritation and lowering the risk of infection), while also making the instrument look simple and easy to operate in the narrow thoracic cavity. The enveloping design of the mounting groove 121 on the suture needle 300 prevents the suture needle 300 from falling off during high-speed rotation, improving the reliability of the surgery.

[0046] In one embodiment, a through groove 122 is provided at the center line of the annular surface 125, and the through groove 122 extends to the mounting groove 121. One side of the suture needle 300 is always facing the through groove 122. One end of the suture needle 300 is used to puncture the wound skin, and the other end of the suture needle 300 is used to connect the suture thread.

[0047] Specifically, the through groove 122 at the center line of the annular surface 125 extends to the mounting groove 121, and one side of the suture needle 300 is always directly facing the through groove 122. During suturing, the end of the suture needle 300 used for puncture passes through the through groove 122 and exits the positioning clip 100, accurately piercing the tissue on the side of the wound. The end of the suture needle 300 used to connect the suture thread rotates with the suture needle 300 and simultaneously penetrates the tissue through the through groove 122, bringing the suture thread into the puncture path. After puncture is completed, the suture needle 300 continues to rotate, causing the suture thread to form multiple suture knots, thus achieving ligation.

[0048] The through groove 122 serves as a "puncture baseline," ensuring that each puncture by the suture needle 300 is performed along the midline of the annular surface 125, thus avoiding tissue tearing caused by puncture position deviation (especially in fragile areas such as lung tissue). The through groove 122 provides a dedicated channel for the suture, preventing the suture from getting stuck or broken due to friction with the inner wall of the positioning clip 100, ensuring a continuous ligation process. The two ends of the suture needle 300 respectively undertake the functions of "puncture" and "suture connection," avoiding the problems of low puncture efficiency and unstable suture connection caused by the traditional "dual-purpose" suture needle 300.

[0049] like Figure 6 As shown, in one embodiment, there are two drive members 400, which are symmetrically fixed inside the main frame 110. The drive end of the drive member 400 is in contact with the surface of the needle 300 to push the needle 300 to rotate around the central axis of the annular surface 125.

[0050] Specifically, the symmetrical dual drive unit 400 solves the problems of uneven driving force and needle jamming caused by the traditional "single drive source", making the needle 300 rotate more smoothly and the suturing speed controllable; it can realize the needle 300 to rotate clockwise / counterclockwise, adapting to wound suturing in different directions (such as circular wounds and straight wounds), without the need to adjust the overall posture of the instrument; if one drive unit 400 temporarily fails, the other drive unit 400 can temporarily take over (reduce power output) to avoid surgical interruption and improve the fault tolerance of the instrument.

[0051] In one embodiment, the distance between the two ends of the needle 300 is less than the maximum distance between the driving ends of the two drives 400.

[0052] Specifically, since the distance between the two ends of the needle 300 is less than the maximum distance between the driving ends of the two driving members 400, no matter where the needle 300 rotates along the annular surface 125 (clockwise or counterclockwise extreme angle), the driving ends of the two driving members 400 can maintain contact with the surface of the needle 300; throughout the entire sewing process, the driving members 400 can continuously provide driving force to the needle 300 without adjusting their position, avoiding power interruption caused by the driving ends disengaging from the needle 300.

[0053] This invention solves the problem of suturing pause caused by the detachment of the drive end from the suture needle 300 in traditional instruments, ensuring continuous suturing and shortening operation time. It eliminates the need for an additional drive end position adjustment mechanism, reducing the complexity of the internal structure of the instrument and lowering manufacturing costs and failure risks. The suture needle 300 is constrained by driving force throughout its full rotation range, preventing the suture needle 300 from "over-traveling" due to inertia, further improving suturing accuracy.

[0054] In one embodiment, a first mounting hole 123 is provided at the end of the side frame 120 away from the main frame 110. The first mounting hole 123 is arranged in a straight line and extends to the outer side of the side frame 120. A mounting plate 130 and a positioning ring 140 are provided on the side of the side frame 120. The plate surface of the mounting plate 130 is directly opposite the first mounting hole 123, and a second mounting hole 131 is provided on the surface of the mounting plate 130. The positioning ring 140 is located between the second mounting hole 131 and the first mounting hole 123.

[0055] Specifically, a straight first mounting hole 123 is opened at the end of the side frame 120 away from the main frame 110. The elastic rod 500 is inserted into the first mounting hole 123 to achieve initial fixation. The mounting plate 130 on the side of the side frame 120 and the positioning ring 140 form a "double-layer positioning structure" - the positioning ring 140 is located between the first mounting hole 123 and the second mounting hole 131 of the mounting plate 130. The elastic rod 500 passes through the first mounting hole 123, the positioning ring 140 and the second mounting hole 131 in sequence to ensure that the axis of the elastic rod 500 coincides with the axis of the first mounting hole 123. The plate surface of the mounting plate 130 faces the first mounting hole 123, so that the pressure of the elastic rod 500 can be transmitted in a straight line to the subsequent pressure feedback unit 700 (avoiding pressure detection errors caused by offset).

[0056] like Figure 7 As shown, in one embodiment, the elastic rod 500 includes a movable rod 510, a positioning plate 520, and a spring 530; the movable rod 510 is inserted into the first mounting hole 123, the positioning plate 520 is sleeved on the movable rod 510, and the positioning plate 520 is located between the mounting plate 130 and the positioning ring 140, and the two ends of the spring 530 abut against the mounting plate 130 and the positioning plate 520 respectively.

[0057] Specifically, the elastic cushioning function of spring 530 avoids tissue damage caused by traditional rigid contact, making it especially suitable for fragile tissues such as lung tissue and mediastinal pleura; the elasticity of spring 530 can be adaptively adjusted according to the tissue reaction force, ensuring that the contact pressure between the contact part 600 and the tissue is always within the "safe threshold" (neither falling off nor causing damage); the combination structure of movable rod 510, positioning plate 520 and spring 530 is simple and not prone to failure, and the elasticity of spring 530 can be adapted to different tissues by changing to different stiffness models (e.g., low stiffness spring 530 for lung tissue, high stiffness spring 530 for chest wall muscles).

[0058] In one embodiment, the abutment 600 includes a top plate 610 and a side plate 620; the top plate 610 is directly opposite the end of the side frame 120, and the two side plates 620 are respectively connected to the two ends of the top plate 610. A slot 124 is provided at the connection between the end of the side frame 120 and the side, and the side plate 620 is used to be engaged in the slot 124. A through opening 611 is provided on the surface of the top plate 610. The through opening 611 passes through the top plate 610 on the side near the suture opening 126 to provide space for the suture needle to pass through.

[0059] Specifically, the snap-fit ​​structure of the side plate 620 and the slot 124 solves the problem of "easy displacement" of the traditional abutment 600, ensuring that the abutment position remains unchanged during suturing and improving suturing accuracy; the design of the through-hole 611 avoids interference between the abutment 600 and the suture needle 300, ensuring a smooth puncture path for the suture needle 300; the planar structure of the top plate 610 increases the contact area with the tissue and reduces local pressure (avoiding tissue damage due to excessive force at a single point).

[0060] In one embodiment, the pressure feedback unit 700 includes a pressure sensor 710 and a sensing end 720; the pressure sensor 710 is disposed on the side of the mounting plate 130 away from the positioning ring 140, the sensing end 720 is disposed in the second mounting hole 131, and one end of the sensing end 720 is connected to the pressure sensor 710, while the other end protrudes from the second mounting hole 131.

[0061] Specifically, the combination of the sensing end 720 and the pressure sensor 710 improves the sensitivity of pressure detection and solves the subjective error of traditional "feel judgment"; the pressure signal transmission delay is small, and doctors can adjust the operation in real time to avoid excessive pressure due to delay; a pressure threshold can be preset (such as issuing an alarm when it exceeds 15 kPa) to actively remind doctors to adjust the force, upgrading from passive "feel control" to active "threshold protection", which significantly reduces the risk of tissue damage.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A suture and ligation device for thoracoscopic surgery based on pressure feedback, characterized in that, include: The positioning clip has one end connected to the adapter and the other end provided with an annular surface. The side of the annular surface away from the adapter has a sewing opening, so that the end of the positioning clip away from the adapter forms two support ends. A suture needle is bent and positioned inside the positioning clamp and fits against the annular surface. Both ends of the suture needle can be inserted into or out of the two branches of the positioning clamp to suture the wound inside the suture opening. A driving component, installed inside the positioning clamp, is used to drive the sewing needle to rotate clockwise or counterclockwise along the bending direction of the annular surface; Two elastic rods are respectively disposed at the two ends of the positioning clamp, and the two elastic rods form an angle between them with the opening facing the adapter. A stop member is provided at one end opposite to the two elastic rods; The pressure feedback unit is located at the end near the elastic rod and away from the abutment.

2. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 1, characterized in that, The positioning clamp includes a main frame and side frames. One end of the main frame is connected to the adapter, which is used to connect an external extension device. The other end of the main frame is connected to two side frames. There is a gap between the ends of the two side frames away from the main frame, forming the suture opening. The inner surfaces of the two side frames face the suture opening and form the annular surface.

3. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 2, characterized in that, The main frame and the side frame are internally connected. The side frame has a mounting groove at one end away from the main frame. The mounting groove is curved, and the center of the curve coincides with the central axis of the annular surface. The sewing needle is installed in the mounting groove.

4. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 3, characterized in that, A through groove is provided at the center line of the annular surface, and the through groove extends to the mounting groove. One side of the suture needle is always facing the through groove. One end of the suture needle is used to puncture the wound skin, and the other end of the suture needle is used to connect the suture thread.

5. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 4, characterized in that, Two drive components are provided, and the two drive components are symmetrically fixed inside the main frame. The drive end of the drive component contacts the surface of the suture needle and is used to push the suture needle to rotate around the central axis of the annular surface.

6. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 5, characterized in that, The distance between the two ends of the needle is less than the maximum distance between the driving ends of the two driving members.

7. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 6, characterized in that, The side frame is provided with a first mounting hole at the end away from the main frame. The first mounting hole is arranged in a straight line and extends to the outer side of the side frame. The side of the side frame is provided with a mounting plate and a positioning ring. The surface of the mounting plate is directly opposite the first mounting hole, and a second mounting hole is provided on the surface of the mounting plate. The positioning ring is located between the second mounting hole and the first mounting hole.

8. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 7, characterized in that, The elastic rod includes a movable rod, a positioning plate, and a spring; the movable rod is inserted into the first mounting hole, the positioning plate is sleeved on the movable rod, and the positioning plate is located between the mounting plate and the positioning ring; the two ends of the spring abut against the mounting plate and the positioning plate, respectively.

9. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 8, characterized in that, The abutment includes a top plate and side plates; the top plate is directly opposite the end of the side frame, and the two side plates are respectively connected to the two ends of the top plate. A slot is provided at the connection between the end of the side frame and the side, and the side plates are used to be engaged in the slot. A through-hole is provided on the surface of the top plate, and the through-hole extends through the top plate on the side near the suture opening to provide space for the suture needle to pass through.

10. The suture and ligation device for thoracoscopic surgery based on pressure feedback according to claim 9, characterized in that, The pressure feedback unit includes a pressure sensor and a sensing end; the pressure sensor is disposed on the side of the mounting plate away from the positioning ring, the sensing end is disposed in the second mounting hole, and one end of the sensing end is connected to the pressure sensor, while the other end protrudes from the second mounting hole.

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