Suture passing device

Abstract

The application provides a suture passing device, which comprises a handle, an extension rod and a jaw arranged in sequence along a length direction, an opening and closing operating element for controlling the opening and closing of the jaw is arranged on the handle, a movable joint is arranged between the extension rod and the jaw, the jaw is arranged to be movable in any direction relative to the extension rod through the movable joint, an angle operating element for driving the movable joint is arranged on the handle, and a locking operating element for keeping the jaw in a movable posture is arranged. The suture passing device can drive the movable joint through the angle operating element, so that the jaw can be switched to different angles according to different use scenarios, and flexible, convenient and multi-angle adjustment capability is provided to adapt to different anatomical structures and surgical approaches; after the jaw is adjusted to a suitable angle, the movable joint is constrained through the locking operating element, so that the posture of the jaw is stable during the whole passing process, and therefore the precision and safety of the operation are improved.

Description

Technical Field

[0001] This invention relates to the field of suture thread guiding devices, and more particularly to a suture thread guiding device. Background Technology

[0002] In minimally invasive arthroscopic surgery, due to the narrow surgical space and limited operating angle, how to efficiently and accurately pass the suture through the rotator cuff tissue is one of the keys to the success of the surgery. As an important surgical instrument, the suture guide is used to guide the suture to the target tissue and complete the gripping and transfer.

[0003] When dealing with complex anatomical structures, surgeons often need to prepare instruments with multiple angles or frequently adjust the approach position, which increases the complexity and time of the operation. Existing technologies include flexible or jointed suture guides, which can improve their adaptability in complex approach environments to a certain extent. However, the design of the joint has the problem of unreliable locking. When encountering tissue resistance during the suture passage operation, the angle may retract or shift, resulting in inaccurate suture passage position and thus operation failure.

[0004] Secondly, the angle adjustment of some instruments is cumbersome and requires the surgeon to operate with both hands, which interrupts the continuity of the surgery and makes it difficult to meet clinical needs.

[0005] Therefore, in order to solve the above problems, the present invention proposes a suture thread guide device that can realize the adjustment of the head end angle and has good stability. Summary of the Invention

[0006] To address the problems of existing suture thread guiding devices, the present invention provides a suture thread guiding device.

[0007] According to one objective of the present invention, the present invention provides a suture thread guiding device, comprising a handle, an extension rod, and a clamp head arranged sequentially along the length direction, wherein the handle is provided with an opening and closing operation component for controlling the opening and closing of the clamp head;

[0008] A movable joint is provided between the extension rod and the pliers head. The pliers head is configured to move in any direction relative to the extension rod via the movable joint. The handle is provided with an angle operating element that drives the movable joint and a locking operating element that can keep the pliers head in an active position.

[0009] Preferably, the pliers head includes a hollow, thread-passing stitching hook structure and a pressing structure arranged from bottom to top;

[0010] The suture hook structure is provided with a hollow needle;

[0011] The pressing structure is provided with a clamping direction. The pressing structure includes housings that are spaced apart from each other in the clamping direction. A wire feeding channel for the hollow needle to pass through is formed between opposite sides of the housings. The housings are provided with clamping members that can open and close the wire feeding channel of the hollow needle along the clamping direction. The clamping members are configured to open when the hollow needle passes through and close when the hollow needle separates.

[0012] Preferably, the housing is hollow, and an opening is provided on one side of the housing. The clamping member is movably disposed within the housing along the clamping direction, and an elastic member is provided between the clamping member and the housing.

[0013] The opposite side of the clamping member is the clamping surface, and the side of the clamping surface near the bottom is inclined. The hollow needle can squeeze the inclined surface to open the clamping member. The clamping surface is an asymmetrical clamping surface that can fit tightly.

[0014] Preferably, the pressing structure is hinged to one end of the extension rod near the pliers head, and an elastic reset member is provided between the pressing structure and the stitching hook structure;

[0015] A pressing member is fitted on the side of the extension rod near the pliers head, and the pressing member is configured to move along the length direction of the extension rod;

[0016] The opening and closing mechanism is a trigger, which is connected to the extrusion member via a transmission rope. The extension rod is a tubular structure, and the transmission rope and the stitching thread are movable and hidden inside the extension rod.

[0017] Preferably, a servo motor is provided on the inner side of the grip, and the angle control component is a joystick connected to the servo motor;

[0018] The extension rod includes a movable part and a fixed part arranged along the length direction, and the movable part and the fixed part are connected by the movable joint;

[0019] The servo motor and the movable part are connected by cables. The servo motor is configured to drive the cables to move along the length of the extension rod. The number of cables is at least four, and the cables are arranged at equal intervals along the circumference of the movable part.

[0020] Preferably, the two sides of the suture thread guide device along its length are the locking side and the unlocking side, respectively;

[0021] The suture thread guide device further includes a limiting structure configured to drive the cable to move synchronously toward the locking side and tighten, and the locking operation member controls the connection of the limiting structure.

[0022] Preferably, the cable is provided with an inclined limiting part, the distance between the inclined limiting parts of each cable gradually increases as it approaches the locking side, and a limiting tooth is provided on the outer side of the inclined limiting part;

[0023] The limiting structure includes a limiting ring, which is movably connected to the inner side of the handle along the length direction of the sewing thread guide device. The locking operation member is driven to connect to the limiting ring. A limiting tooth is provided on the inner side of the limiting ring, and the limiting ring is sleeved on the outer side of the inclined limiting part.

[0024] Preferably, the locking side of the first limiting tooth and the unlocking side of the second limiting tooth are locked together, while the unlocking side of the first limiting tooth and the locking side of the second limiting tooth are in a sliding fit.

[0025] Preferably, there are four cables, and the servo motors are divided into servo motor one and servo motor two. Each servo motor has two coaxially arranged winding wheels connected in opposite directions. The winding wheels are connected to the cables, and the winding wheels and cables correspond one-to-one. The cables on the same servo motor are of equal length and are respectively connected to the two radially opposite sides of the movable part.

[0026] The winding wheel on the first servo motor is arranged laterally, and the winding wheel on the second servo motor is arranged longitudinally. The limiting ring is divided into a lateral limiting ring and a longitudinal limiting ring. The lateral limiting ring corresponds to the cable on the first servo motor, and the longitudinal limiting ring corresponds to the cable on the second servo motor.

[0027] Preferably, a distance sensor is installed inside the extension rod relative to the cable, and an LCD screen is provided on the outside of the grip. The LCD screen is communicatively connected to the distance sensor. The LCD screen is configured to display the moving distance of the cable according to the signal fed back by the distance sensor. When the locking operation is pressed, the LCD screen stops receiving the distance sensor signal and displays the locked state.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] The suture thread guide device moves the entire thread guide by a handle, places the clamp head in the thread guiding position, and controls the opening and closing of the clamp head by an opening and closing operation component, thus realizing the clamping and opening and closing operation of the clamp head;

[0030] The suture device can also drive the movable joint through the angle operating component, so that the forceps head can be switched to different angles according to different usage scenarios, providing flexible and convenient multi-angle adjustment capabilities to adapt to different anatomical structures and surgical approaches;

[0031] After adjusting the forceps head to the appropriate angle, the movable joint is constrained by locking the operating component to lock the adjusted angle of the forceps head, ensuring the stability of the forceps head posture throughout the suture process, thereby improving the accuracy and safety of the surgery.

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0033] Figure 1 This is an overall schematic diagram of a suture thread guiding device according to the present invention;

[0034] Figure 2 This is a schematic diagram showing the opening of the upper thread feeding channel in the lower pressing structure of the suture thread feeding device described in this invention;

[0035] Figure 3 This is a schematic diagram showing the closure of the upper thread feeding channel in the lower pressing structure of the suture thread feeding device described in this invention;

[0036] Figure 4 This is a schematic diagram of the transmission structure between the opening and closing operating component and the clamp head in a suture thread guiding device according to the present invention;

[0037] Figure 5 This is a schematic diagram showing the opening of the clamp head in a suture thread guiding device according to the present invention;

[0038] Figure 6 This is a schematic diagram of the clamp head closure in a suture thread guiding device according to the present invention;

[0039] Figure 7 This is a schematic diagram of the combination of servo motor and limiting structure in a stitching device according to the present invention;

[0040] Figure 8 This is a schematic diagram of the initial state of the limiting structure in the suture thread guiding device of the present invention;

[0041] Figure 9 This is a schematic diagram of the limiting structure state after the locking operation member of the suture thread passing device of the present invention is pressed;

[0042] Figure 10 This is a schematic diagram showing the connection between the servo motor and the winding wheel in a stitching device according to the present invention;

[0043] Figure 11 This is a schematic diagram of the connection between the cable and the extension rod in a stitching device according to the present invention;

[0044] Figure 12 This is a schematic diagram showing the connection between the handle and the liquid crystal display screen in a stitching device according to the present invention;

[0045] Figure 13This is a schematic diagram showing the connection between limiting tooth one and limiting tooth two in a suture thread guiding device according to the present invention. Detailed Implementation

[0046] The following description is intended to provide a detailed account of the invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0047] Please see Figure 1 The present invention provides a technical solution: a sewing thread guide device, comprising a handle 100, an extension rod 200 and a clamp head 300 arranged sequentially along the length direction, wherein the handle 100 is provided with an opening and closing operation component 101 for controlling the opening and closing of the clamp head 300;

[0048] A movable joint 201 is provided between the extension rod 200 and the pliers head 300. The pliers head 300 is configured to move relative to the extension rod 200 in any direction via the movable joint 201. The grip 100 is provided with an angle operating member 102 for driving the movable joint 201 and a locking operating member 103 for keeping the pliers head 300 in an active position.

[0049] In use, the entire thread guide is moved by the handle 100, and the clamp head 300 is placed in the thread-passing position. The opening and closing of the clamp head 300 is controlled by the opening and closing operation component 101 to realize the clamping and opening and closing operation of the clamp head 300. On this basis, the sewing thread-passing device can also drive the movable joint 201 through the angle operation component 102, so that the clamp head 300 can switch to different angles according to different usage scenarios. After the clamp head 300 is adjusted to a suitable angle, the movable joint 201 is constrained by the locking operation component 103 to lock the adjusted angle of the clamp head 300.

[0050] Furthermore, the locking operation member 103, the angle operation member 102, and the opening and closing operation member 101 are each independently provided. During use, the movement of the pliers head 300 can be independently controlled through each operation member to avoid misoperation.

[0051] In this embodiment, for the specific structure of the pliers head 300, please refer to [link to previous document]. Figure 1 The clamp head 300 includes a hollow, thread-threadable sewing hook structure 301 and a pressing structure 302 arranged from bottom to top;

[0052] Hollow needles 3011 are provided on the suture hook structure 301;

[0053] The pressing structure 302 is provided with a clamping direction A. The pressing structure 302 includes a housing 3021 that is spaced apart from each other in the clamping direction A. A thread feeding channel for the hollow needle 3011 to pass through is formed between opposite sides of the housing 3021. The housing 3021 is provided with a clamping member 3022 that can open and close the thread feeding channel of the hollow needle 3011 along the clamping direction A. The clamping member 3022 is configured to open when the hollow needle 3011 passes by and close when the hollow needle 3011 separates, so as to clamp and position the suture fed by the hollow needle 3011.

[0054] For more details, see Figure 2 and 3 The housing 3021 is hollow and has an opening on one side. The clamping member 3022 is movably disposed within the housing 3021 along the clamping direction A. An elastic member is disposed between the clamping member 3022 and the housing 3021. Preferably, the elastic member is a spring, and multiple elastic members are disposed along the length direction of the clamping member 3022.

[0055] Furthermore, one side of the clamping member 3022 opposite to the clamping member 3022 is a clamping surface 30221. The clamping surface 30221 is inclined on the lower side. The hollow needle 3011 can press this inclined surface to open the clamping member 3022. Even further, the clamping surface 30221 is an asymmetrical clamping surface 30221 that can fit tightly together. See details below. Figure 3 The clamping surface 30221 is a concave-convex fit. When the clamping member 3022 closes the thread feeding channel, the clamping surfaces 30221 are in contact with each other, so that when the two clamping surfaces 30221 are closed, there is a large contact area between the clamping surfaces 30221 and the thread, which increases the friction between the clamping surfaces 30221 and the thread, thereby firmly clamping the thread.

[0056] In use, the opening and closing mechanism 101 controls the closure of the pressing structure 302 and the suture hook structure. The needle tip on the suture hook structure squeezes and passes through the opposing clamping surfaces 30221 on the pressing structure 302. The opposing clamping surfaces 30221 of the pressing structure 302 open, and the needle tip punctures the rotator cuff tissue, through which the suture passes. After completion, the opening and closing mechanism 101 controls the opening of the clamp head 300, that is, the pressing structure 302 and the suture hook structure open. See [link to relevant documentation]. Figure 3The needle tip of the suture hook structure exits the rotator cuff tissue and the clamping member 3022. The elastic member acts to reset the clamping member 3022 and clamp the suture. In the same clamping member 3022, the lower end of the clamping member 3022 covers the clamping surface 30221 in the opening and closing direction to ensure that the clamping surface 30221 does not affect the movement of the hollow needle 3011 after the clamping member 3022 is opened.

[0057] For the specific structure of the transmission mechanism between the pliers head 300 and the opening / closing operating element 101, please refer to [link / reference]. Figure 4-6 The pressing structure 302 is hinged to one end of the extension rod 200 near the pliers 300, and an elastic reset member is provided between the pressing structure 302 and the stitching hook structure 301.

[0058] An extrusion member 303 is sleeved on the side of the extension rod 200 near the clamp head 300. The extrusion member 303 is configured to move along the length direction of the extension rod 200, and an elastic reset member is also provided between the extrusion member 303 and the extension rod 200. The clamp head 300 has at least two working states: a closed state and a closed state. When the clamp head 300 is in the closed state, the extrusion member 303 abuts against the outside of the suture hook structure 301 and the pressing structure 302, and the suture hook structure 301 and the pressing structure 302 are closed. When the clamp head 300 is in the closed state, the extrusion member 303 disengages from the suture hook structure 301 and the pressing structure 302, and the suture hook structure 301 and the pressing structure 302 are separated by the elastic reset member.

[0059] See Figure 4 The opening and closing operation component 101 is a trigger. The opening and closing operation component 101 is connected to the pressing component 303 through the transmission rope 1011. Preferably, the extension rod 200 is a slender tubular structure, and the transmission rope 1011 is movable and hidden inside the extension rod 200.

[0060] In use, the extruder 303 can be fitted onto and extruded on the outer wall of the clamp head 300. After pressing the opening and closing operation member 101, the internal transmission rope 1011 is pulled backward, and the extruder 303 moves on the extension rod 200. The extruder 303 extrudes the clamp head 300 to close the clamp head 300. See Figures 5 and 6. In this embodiment, the extruder 303 is provided with metal pieces corresponding to the pressing structure 302 and the stitching hook structure 301, respectively.

[0061] Furthermore, a transmission wheel for guiding the transmission rope 1011 is provided at the connection between the grip 100 and the extension member to ensure that the action on the opening and closing operation member 101 can be smoothly transmitted to the pressing member 303 through the transmission rope 1011, thereby completing the opening and closing of the pliers 300.

[0062] Regarding the transmission structure between the movable joint 201 and the angle operating member 102. See [link / reference]. Figure 1 and 7 The grip 100 has a servo motor 1021 on its inner side. The angle control component 102 is a joystick that controls the servo motor 1021. Specifically, the angle control component 102 and the servo motor 1021 are connected by a control line 1023.

[0063] See Figure 11 The movable joint 201 is a universal joint, and the extension rod 200 includes a movable part 202 and a fixed part 203 arranged along the length direction. The movable part 202 and the fixed part 203 are connected by the movable joint 201.

[0064] The servo motor 1021 and the movable part 202 are connected by a cable 1022. The servo motor 1021 is configured to drive the cable 1022 to move along the length direction of the extension rod 200. The number of cables 1022 is at least four, and the cables 1022 are arranged at equal intervals along the circumference of the movable part 202. In use, the servo motor 1021 can act on the movable part 202 along the length direction of the extension rod 200 via the cable 1022. The movable part 202 rotates on the fixed part 203 via the movable joint 201. Since multiple cables 1022 are arranged at equal intervals along the circumference of the movable part 202, the movable part 202 and the clamp head 300 connected to the movable part 202 can be rotated in any direction.

[0065] In this embodiment, there are four cables 1022. The servo motors 1021 are divided into servo motor one 1021a and servo motor two 1021. Each servo motor 1021 has two coaxially arranged winding wheels 10211 connected in opposite directions. The winding wheels 10211 are connected to the cables 1022, and there is a one-to-one correspondence between the winding wheels 10211 and the cables 1022. The cables 1022 on the same servo motor 1021 are of equal length and are respectively connected to the radially opposite sides of the movable part 202. (See [reference]). Figure 7 The winding wheel 10211 on the first servo motor 1021a is arranged laterally, and the winding wheel 10211 on the second servo motor 1021 is arranged longitudinally. The mounting positions of the two servo motors 1021 can be fixed using a plate.

[0066] Further, see Figure 10The winding reel 10211 and the servo motor 1021 are detachably connected. Specifically, the output shaft of the servo motor 1021 is provided with a locking slot, through which the servo motor 1021 transmits power to the winding reel 10211. By rotating the winding reel 10211, the cable 1022 controls the up-down or left-right rotation of the gun head. In use, the doctor uses their index finger to operate the joystick to control the direction of movement of the forceps head 300. One servo motor 1021 can control two winding reels 10211 to rotate in opposite directions simultaneously. The cables 1022 on both sides of the winding reel 10211 extend on one side and tighten on the other. Taking the downward tilt of the movable part 202 as an example, the servo motor 1021 controls the cable 1022 connected to the upper part of the movable part 202 to extend, while simultaneously controlling the cable 1022 connected to the lower part of the movable part 202 to retract. Due to the different cable exit positions, a downward tilt angle can be formed.

[0067] Furthermore, the extension rod 200 is provided with a hollow channel connecting both ends in the length direction. The hollow channel connects both ends in the length direction of the extension rod 200 to allow components such as sewing thread and transmission rope 1011 to enter and exit.

[0068] The inner wall of the extension rod 200 is provided with guide grooves for the pull cable 1022 to pass through. In this embodiment, there are four guide grooves. The guide grooves are arranged at equal intervals along the circumference of the extension rod 200. That is, the pull cable 1022 extends inside the extension rod 200 to the position of the clamp head 300 and is completely covered by the medical plastic extension rod 200. Each pull cable 1022 controls the up, down, left and right movements of the clamp head 300, which can realize flexible rotation in four directions, so that the clamp head 300 can be aligned with any position.

[0069] Furthermore, see Figure 12 The extension rod 200 is equipped with a distance sensor 401 positioned relative to the cable 1022. A small LCD screen 400 is provided on the outside of the grip 100. The LCD screen 400 is communicatively connected to the distance sensor 401. The LCD screen 400 is configured to display the movement distance of the cable 1022 based on the signal fed back by the distance sensor 401. When the locking operation 103 is pressed, the LCD screen 400 stops receiving signals from the distance sensor 401 and displays the locked state.

[0070] Regarding the transmission structure between the locking actuator 103 and the movable joint 201, see [link / reference]. Figure 7-9 The two sides of the stitching device along its length are the locking side and the unlocking side, respectively.

[0071] The suture thread guiding device further includes:

[0072] A limiting structure 1031 is configured to drive the cable 1022 to move synchronously toward the locking side and tighten, and the locking operation member 103 controls the connection of the limiting structure 1031.

[0073] The cable 1022 that controls the steering of the pliers 300 is pulled toward the locking side by the limiting structure 1031. The head end is supported by the steering joint. The four cables 1022 are connected to the four connection points in the circumferential direction of the movable part 202 and are tightened toward the locking side to lock the posture of the pliers 300 after adjustment.

[0074] For details, see Figure 8 and 9 The cable 1022 is provided with an inclined limiting part 10221, and the distance between the inclined limiting parts 10221 of each cable 1022 gradually increases as it approaches the locking side. The outer side of the inclined limiting part 10221 is provided with a limiting tooth 10311.

[0075] The limiting structure 1031 includes:

[0076] A limiting ring 10312 is movably connected to the inner side of the handle 100 along the length direction of the suture thread guide device. The locking operation member 103 is driven to connect to the limiting ring 10312. A limiting tooth 10313 is provided on the inner side of the limiting ring 10312. The limiting ring 10312 is sleeved on the outer side of the inclined limiting part 10221. In use, the locking operation member 103 drives the limiting ring 10312 to move toward the locking side. The limiting tooth 10313 on the limiting ring 10312 abuts against the limiting tooth 10311 and drives the cable 1022 to move toward the locking side through the limiting tooth 10311. The cable 1022 is tightened toward the locking side. The locking operation member 103 drives the limiting ring 10312 to move toward the unlocking side. The limiting tooth 10313 on the limiting ring 10312 and the limiting tooth 10311 on the inclined limiting part 10221 separate, releasing the limitation on the cable 1022.

[0077] The locking operation component 103 is a trigger. The locking operation component 103 is driven to connect to the limiting ring 10312 via the guide wire 1032. When in use, when the trigger is pressed, the trigger drives the limiting ring 10312 to move. The limiting tooth 10313 on the inner side of the limiting ring 10312 and the limiting tooth 10311 on the outer side of the cable 1022 engage. At the same time, the limiting ring 10312 pushes the cable 1022 toward the locking side to tighten it, thereby limiting the adjustment of the clamp head 300.

[0078] Furthermore, the limiting tooth 10313 and the limiting tooth 10311 adopt a structure similar to a ratchet and pawl, that is, the two limiting teeth have a one-way limiting function. The limiting tooth 10313 can only drive the limiting tooth 10311 to move towards the locking side, and the limiting tooth 10311 does not interfere with the limiting tooth 10313 in the unlocking direction, so that the limiting ring 10312 can be easily reset without affecting the normal movement of the cable 1022. For details, see Figure 13 The locking side of the first limiting tooth 10313 and the unlocking side of the second limiting tooth 10311 are locked together, while the unlocking side of the first limiting tooth 10313 and the locking side of the second limiting tooth 10311 are in a sliding fit. In use, the locking side of the first limiting tooth 10313 and the unlocking side of the second limiting tooth 10311 can engage after contact, and the unlocking side of the first limiting tooth 10313 and the locking side of the second limiting tooth 10311 can slide relative to each other after contact, thereby achieving unidirectional limiting.

[0079] In this embodiment, two servo motors 1021 are provided, and two limiting rings 10312 are also provided in the limiting structure 1031, namely a lateral limiting ring 10312a and a longitudinal limiting ring 10312b. After pressing the locking operation member 103, the limiting teeth 10313 of the lateral and longitudinal limiting rings 10312b act simultaneously to complete the limiting. In the lateral direction, due to space constraints, a hollow rod is required to plan the path of the cable 1022 so that the cable 1022 in the lateral and longitudinal directions works synchronously.

[0080] How to use:

[0081] The handle 100 has a thread hole 104 at its rear end that connects the inside and outside of the extension rod 200. The suture is fed in through the thread hole 104 at the rear end of the handle 100 and passes out through the suture hook structure.

[0082] The doctor holds the handle 100 with his hand, operates the joystick with his index finger, and controls the direction of movement of the forceps head 300 through the angle operating component 102 and the pull cable 1022. After adjusting the forceps head 300 to a suitable angle, the doctor continues to control the limit ring 10312 to work with the limit teeth through the locking operating component 103 to pull the pull cable 1022 toward the locking side and tighten it, thereby locking the posture of the forceps head 300.

[0083] Continue to control the opening and closing of the clamp head 300 through the opening and closing operation component 101 to complete the crossing of the line at the target position.

[0084] In summary, this suture thread guide device uses the handle 100 to move the entire thread guide, placing the clamp head 300 in the thread-passing position. The opening and closing of the clamp head 300 is controlled by the opening and closing operation component 101, realizing the clamping and opening / closing operation of the clamp head 300. In addition, the suture thread guide device can also drive the movable joint 201 through the angle operation component 102, so that the clamp head 300 can switch to different angles according to different usage scenarios. After the clamp head 300 is adjusted to a suitable angle, the movable joint 201 is constrained by the locking operation component 103 to lock the adjusted angle of the clamp head 300, ensuring that the movable clamp head 300 can complete the stable thread passing.

[0085] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of patent application of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A suture thread guiding device, comprising a handle (100), an extension rod (200) and a clamp head (300) arranged sequentially along the length direction, wherein the handle (100) is provided with an opening and closing operation member (101) for controlling the opening and closing of the clamp head (300). Its features are, A movable joint (201) is provided between the extension rod (200) and the pliers (300). The pliers (300) is configured to move in any direction relative to the extension rod (200) via the movable joint (201). The grip (100) is provided with an angle operating member (102) for driving the movable joint (201) and a locking operating member (103) for maintaining the posture of the pliers (300). A servo motor (1021) is provided on the inner side of the grip (100), and the angle control component (102) is a joystick; The extension rod (200) includes a movable part (202) and a fixed part (203) arranged along the length direction, and the movable part (202) and the fixed part (203) are connected by the movable joint (201); The servo motor (1021) and the moving part (202) are connected by multiple cables (1022); The suture thread guide device further includes a limiting structure (1031), the limiting structure (1031) includes a limiting ring (10312), the limiting ring (10312) is movably connected to the inner side of the handle (100) along the length direction of the suture thread guide device, and the locking operation member (103) is driven to connect the limiting ring (10312). The cable (1022) is provided with an inclined limiting part (10221), and a limiting tooth two (10311) is provided on the outer side of the inclined limiting part (10221). A limiting tooth one (10313) is provided on the inner side of the limiting ring (10312). The limiting ring (10312) is sleeved on the outer side of the inclined limiting part (10221) on multiple cables (1022). The two sides of the suture thread passing device along its length are the locking side and the unlocking side, respectively. The locking side of the first limiting tooth (10313) and the unlocking side of the second limiting tooth (10311) are locked together, while the unlocking side of the first limiting tooth (10313) and the locking side of the second limiting tooth (10311) are in sliding fit.

2. The suture thread guiding device according to claim 1, characterized in that, The pliers (300) includes a hollow, thread-threadable sewing hook structure (301) and a pressing structure (302) arranged from bottom to top. The suture hook structure (301) is provided with a hollow needle (3011); The pressing structure (302) is provided with a clamping direction (A). The pressing structure (302) includes a housing (3021) that is spaced apart from each other in the clamping direction (A). A wire feeding channel for the hollow needle (3011) to pass through is formed between opposite sides of the housing (3021). The housing (3021) is provided with a clamping member (3022) that can open and close the wire feeding channel of the hollow needle (3011) along the clamping direction (A). The clamping member (3022) is configured to open when the hollow needle (3011) passes by and close when the hollow needle (3011) leaves.

3. A suture thread guiding device according to claim 2, characterized in that, The housing (3021) is hollow, and an opening is provided on one side of the housing (3021). The clamping member (3022) is movably disposed in the housing (3021) along the clamping direction (A). An elastic member is provided between the clamping member (3022) and the housing (3021). The opposite side of the clamping member (3022) is the clamping surface (30221), and the side of the clamping surface (30221) near the bottom is an inclined surface. The hollow needle (3011) can squeeze the inclined surface to open the clamping member (3022). The clamping surface (30221) is an asymmetrical clamping surface (30221) that can fit tightly.

4. A suture thread guiding device according to claim 2, characterized in that, The pressing structure (302) is hinged to one end of the extension rod (200) near the pliers (300), and an elastic reset member is provided between the pressing structure (302) and the stitching hook structure (301); The extension rod (200) is fitted with a pressing member (303) on the side near the pliers (300), and the pressing member (303) is configured to move along the length direction of the extension rod (200); The opening and closing operation component (101) is a trigger. The opening and closing operation component (101) is connected to the extruder (303) through a transmission rope (1011). The extension rod (200) is a tubular structure. The transmission rope (1011) and the suture line are movable and hidden inside the extension rod (200).

5. A suture thread guiding device according to claim 1, characterized in that, There are four cables (1022) and two servo motors (1021). Each servo motor (1021) has two coaxially arranged winding wheels (10211) connected in opposite directions. The winding wheels (10211) are connected to the cables (1022). The winding wheels (10211) and the cables (1022) correspond one-to-one. The cables (1022) on the same servo motor (1021) are of equal length and are respectively connected to the two radially opposite sides of the movable part (202). The winding wheel (10211) on one of the servo motors (1021) is arranged laterally, and the winding wheel (10211) on the other servo motor (1021) is arranged longitudinally. The limiting ring (10312) is divided into a lateral limiting ring (10312a) and a longitudinal limiting ring (10312b). The lateral limiting ring (10312a) corresponds to the cable (1022) on the laterally arranged winding wheel (10211), and the longitudinal limiting ring (10312b) corresponds to the cable (1022) on the longitudinally arranged winding wheel (10211).

6. A suture thread guiding device according to claim 1, characterized in that, An extension rod (200) is equipped with a distance sensor (401) positioned relative to the cable (1022). An LCD screen (400) is provided on the outside of the grip (100). The LCD screen (400) is communicatively connected to the distance sensor (401). The LCD screen (400) is configured to display the moving distance of the cable (1022) based on the signal fed back by the distance sensor (401). When the locking operation (103) is pressed, the LCD screen (400) stops receiving signals from the distance sensor (401) and displays the locked state.

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