Suture needle holder for minimally invasive surgery robot

Abstract

The invention discloses a suture needle holder for a minimally invasive surgery robot in the field of minimally invasive surgery robos.The needle holder comprises a cylindrical shell, two wedge-shaped clamping blocks, a pull disc, a reduction gear set and a motor which are all integrated in the cylindrical shell, a V-shaped opening is formed in the end of the cylindrical shell, and the two wedge-shaped clamping blocks can slide in the V-shaped opening; and the motor drives the reduction gear set, the low-speed end of the reduction gear set converts rotary motion into axial displacement of the pull disc through screw-thread fit, and the axial displacement of the pull disc drives the two wedge-shaped clamping blocks to generate parallel radial clamping motion. Two-stage acting force amplification is achieved through the reduction gear set and the wedge-shaped clamping block structure, and high-precision clamping force control can be achieved through a low-precision motor.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical robots, and more specifically to a suture needle holder for a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgical robots are playing an increasingly important role in modern medicine, with their core advantage lying in their ability to perform complex and delicate suturing that is difficult to achieve with traditional minimally invasive surgery. As a key end effector in the surgical robot system, the performance of the needle holder directly determines the quality and safety of the surgery. However, existing minimally invasive needle holder structures still face numerous technical challenges and limitations.

[0003] For example, traditional articulated (or fork-type) needle holders typically open and close the jaws through a simple pivot point, but their core drawback is the unavoidable angle effect.

[0004] Because the jaws rotate around the hinge point, the two clamping surfaces form a constantly changing angle during the closing process, making it difficult to apply uniform parallel pressure to the suture needle, resulting in poor versatility and reliability of the clamping.

[0005] This structure makes it easy for the suture needle to slip or rotate when puncturing tough tissue, especially when using extremely fine suture needles, which greatly affects the precise control of the suture trajectory.

[0006] More seriously, once the clamping force exceeds the elastic limit of the suture needle, causing the needle to be flattened or deformed, the suture needle will lose its smooth geometry and sharpness. This will not only cause tissue tearing instead of precise cutting during subsequent punctures, greatly increasing penetration resistance, but may even cause the suture needle to break in the tissue, thus seriously affecting the quality of the operation and the safety of the patient.

[0007] To address the angle effect, some high-end robotic needle holders employ complex multi-link mechanical structures to achieve multi-degree-of-freedom motion and near-parallel clamping.

[0008] However, the drawbacks of this design are obvious: integrating a large number of linkages, joints, and transmission components within the limited diameter space of a minimally invasive surgical instrument results in excessive structural complexity, high manufacturing costs, and difficult assembly. The numerous kinematic pairs and clearances in the complex mechanical structure also reduce the clamping rigidity of the jaw tips, failing to meet the stability requirements of ultra-precise operations.

[0009] More importantly, existing needle holders often require a servo motor system to provide the required clamping force for extremely fine suture needles at a near 1:1 ratio, which necessitates that the servo motor operate with extremely high torque resolution and precision.

[0010] This extremely high precision requirement for the servo motor and control system directly leads to a sharp increase in system cost and makes the clamping force susceptible to fluctuations due to the motor's own operating noise and external interference.

[0011] Therefore, there is an urgent need for a new type of minimally invasive surgical needle holder structure that can effectively solve the problems of complex and unstable jaw geometry and extremely high precision requirements of servo motors in traditional needle holders, while ensuring compactness. Summary of the Invention

[0012] The purpose of this invention is to provide a suture needle holder for a minimally invasive surgical robot, so as to solve the technical problem that the needle holder clamp has extremely high precision requirements for the servo motor, resulting in high system cost.

[0013] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A suture needle holder for a minimally invasive surgical robot includes: A cylindrical outer shell, one end of which has a V-shaped opening that communicates with the inside of the cylindrical outer shell; Two wedge-shaped clamping blocks are symmetrically arranged inside the V-shaped opening. The two wedge-shaped clamping blocks have parallel clamping surfaces on their opposite sides and beveled surfaces on their opposite sides to fit the beveled walls of the V-shaped opening. The beveled surfaces and the corresponding beveled walls of the V-shaped opening are always in a sliding fit. The pull plate is set in a coaxial position inside the cylindrical shell. Two wedge-shaped sliders are slidably connected to the pull plate at one end of the inner side of the cylindrical shell. The connection between the wedge-shaped sliders and the pull plate is configured such that the wedge-shaped sliders can be displaced radially along the pull plate. The reduction gear set is located inside the cylindrical shell and on the side of the pull plate away from the wedge-shaped clamp. The low-speed end of the reduction gear set is connected to the pull plate by a threaded fit to convert the rotational motion of the low-speed end of the reduction gear set into the axial displacement of the pull plate. The motor is located inside the cylindrical shell and on the side of the reduction gear set away from the pull plate. The output shaft of the motor is connected to the high-speed end of the reduction gear set.

[0014] Furthermore, a threaded post is formed at the center of the side of the pull plate away from the wedge-shaped clamp, and the threaded post is coaxially fixed to the pull plate. A threaded sleeve is formed at the low-speed end of the reduction gear set, which is threadedly connected to the threaded post. An axial redundant space is formed between the inner side of the cylindrical outer shell and the reduction gear set to allow for the axial movement of the pull plate. The engagement length between the threaded post and the threaded sleeve is greater than the total stroke of the two wedge-shaped blocks moving in the axial direction of the cylindrical shell, so that the total axial stroke can be fully converted into the radial clamping stroke of the wedge-shaped blocks required to cover all target suture needle diameters.

[0015] Furthermore, the reduction gear set is a planetary gear set, the sun gear of the planetary gear set is connected to the output shaft of the motor, and one side of the gear ring of the reduction gear set is formed with an integral side plate. The threaded sleeve is coaxially fixed to the side plate, and the threaded sleeve, the planetary gear set, the motor and the cylindrical outer shell are arranged on the same axis.

[0016] Furthermore, a motor base is fixedly installed on the inner side of the cylindrical shell, the motor is coaxially fixedly embedded in the motor base, the planetary gear set is fixedly installed on the side of the motor base away from the motor, and the output shaft of the motor passes through the center of the motor base and is fixedly connected to the sun gear of the planetary gear set on the other side. All planetary gears of the planetary gear set are mounted on a planetary carrier. The planetary carrier is coaxially fixed to the motor base. The side plate is located on the side of the gear ring away from the planetary carrier. A limiting flange is formed on the inner wall of the cylindrical shell. The limiting flange is used to axially limit the side plate. The contact surface between the side plate and the limiting flange is in sliding fit.

[0017] Furthermore, a buffer circular plate is attached to one side of the side plate. The buffer circular plate and the side plate are coaxial and can rotate relative to each other. The threaded column is coaxially fixed to the side of the buffer circular plate away from the side plate. The buffer disc has several buffer grooves evenly distributed along its axial direction. The extension direction of the buffer grooves is perpendicular to the radial direction of the buffer disc. The side plate that is attached to the buffer disc has several blocks evenly distributed along the circumference. The number of blocks is the same as the number of buffer grooves and their positions are matched. Each stop extends to the middle of the corresponding buffer groove. Two springs are installed in each buffer groove on both sides of the stop to make the buffer disc and the side plate have flexible coaxial transmission.

[0018] Furthermore, a first T-shaped groove is formed on the inclined wall of the V-shaped opening, and a first T-shaped slide bar that matches the first T-shaped groove is formed on the inclined surface of the wedge-shaped clamping block.

[0019] Furthermore, a second T-shaped groove is formed on the pull plate, extending along its diameter, and a second T-shaped slide bar is formed at the corresponding end of each wedge-shaped clamp, which is slidably connected to the second T-shaped groove.

[0020] Furthermore, anti-slip textures are formed on the clamping surface to stabilize and hold the suture needle.

[0021] Beneficial effects: This invention constructs a two-stage force amplification mechanism by integrating a motor, a reduction gear set, a pull plate, and a wedge-shaped clamping block inside a cylindrical shell. This two-stage amplification mechanism enables the system to achieve high-precision and high-stability control of the clamping force with a low-cost, low-precision motor, significantly reducing the performance requirements of the servo motor and its control system, thereby reducing the overall manufacturing cost. Attached Figure Description

[0022] To more clearly illustrate the embodiments of the present invention or the technical solutions in 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 merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0023] Figure 1 This is a plan view of the needle holder of the present invention; Figure 2 for Figure 1 A sectional view along line AA in the middle; Figure 3 This is a schematic diagram of the sliding structure between the wedge-shaped clamping block and the cylindrical outer shell according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the sliding structure between the wedge-shaped slider and the pull plate according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the principle of the first-stage amplification structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the flexible transmission structure of the buffer circular plate and side plate according to an embodiment of the present invention; The labels in the diagram represent the following: 1-Cylindrical outer shell; 1a-V-shaped opening; 1b-Axial redundant space; 1c-Limiting flange; 2-Wedge-shaped clamping block; 2a-First T-shaped slide bar; 2b-Second T-shaped slide bar; 2c-Clamping surface; 2d-Anti-slip texture; 2e-Beveled surface; 3-Pulse plate; 4-Planetary gear set; 4a-Sun gear; 4b-Gear ring; 4c-Planetary gear; 4d-Side plate; 4e-Planetary carrier; 5-Motor; 6-Threaded column; 7-Threaded sleeve; 8-Motor base; 9-Buffer plate; 9a-Buffer groove; 10-Stop block; 11-Spring. Detailed Implementation

[0024] 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, and 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.

[0025] Reference Figures 1 to 6 This embodiment provides a suture needle holder for a minimally invasive surgical robot, which aims to achieve stable and parallel precise force control clamping of the suture needle through a simple mechanical structure, while significantly reducing the dependence on the performance of the drive motor 5, thereby improving the quality and safety of surgery while effectively controlling system costs.

[0026] Specifically, the needle holder includes a cylindrical outer shell 1, one end of which forms a V-shaped opening 1a, which communicates with the inner side of the cylindrical outer shell 1. Two wedge-shaped clamping blocks 2 are symmetrically arranged within the V-shaped opening 1a. The sides of these two wedge-shaped clamping blocks 2 that are close to each other form parallel clamping surfaces 2c, which are the working surfaces that ultimately contact the suture needle and apply clamping force. The sides of the two wedge-shaped clamping blocks 2 that are opposite to each other each have beveled surfaces 2e. The angle and position of each beveled surface 2e are designed to mate with the beveled wall of the V-shaped opening 1a, and during operation, the beveled surfaces 2e of the wedge-shaped clamping blocks 2 and the corresponding beveled walls of the V-shaped opening 1a always maintain a sliding contact state.

[0027] Inside the cylindrical outer shell 1, a pull plate 3 is also provided, which is arranged coaxially with the cylindrical outer shell 1. The two wedge-shaped clamping blocks 2 are slidably connected to this pull plate 3 at one end located inside the cylindrical outer shell 1. This connection method is specially configured to allow the wedge-shaped clamping blocks 2 to be displaced radially along the pull plate 3.

[0028] An integrated reduction gear set is located on the inner side of the cylindrical outer shell 1, on the side of the pull plate 3 away from the wedge-shaped clamp 2. The low-speed output end of the reduction gear set is connected to the pull plate 3 via a threaded connection.

[0029] Finally, a motor 5 is located inside the cylindrical outer shell 1, on the side of the reduction gear set away from the pull plate 3, and the output shaft of the motor 5 is connected to the high-speed input end of the reduction gear set.

[0030] This structure cleverly solves the problem of extremely high precision requirements for servo motors in existing technologies through a two-stage amplification mechanism. The first stage of amplification is accomplished by a reduction gear set, while the second stage is accomplished by a wedge mechanism consisting of a wedge-shaped clamp 2 and a V-shaped opening 1a. Its core value lies not only in the amplification of force but also in the amplification of "control precision."

[0031] High-precision clamping force control essentially requires the system to make extremely small, controllable incremental adjustments to the clamping force. In traditional direct-drive or low-gear ratio systems, this requires motor 5 to perform extremely small angular displacements, which is why high-precision servo motors are so expensive.

[0032] The two-stage amplification mechanism of this scheme essentially constructs a high-transmission-ratio system for "motion reduction" and "precision enhancement." First, in the first-stage amplification, the reduction gear set significantly reduces the motion. A relatively large, easily controllable angle on the output shaft of motor 5 is transformed into an extremely small, precise angle at its low-speed output end. The inherent "low-precision" characteristics of motor 5, such as stepping errors and cogging effects, are significantly weakened and refined after being "filtered" by the high reduction ratio.

[0033] Secondly, in the second stage of amplification, the threaded pair and wedge mechanism further transform this fine rotational motion into even finer linear displacement.

[0034] In summary, the entire transmission chain achieves a significant reduction in the stroke from the motor end to the clamping end. A relatively large rotational step that can be easily achieved on a low-precision motor 5 is ultimately transmitted to the clamping surface 2c as a displacement change at the micrometer level.

[0035] Therefore, by controlling the "coarse adjustment" of motor 5, the "fine adjustment" of the clamping force can be achieved. This mechanism transforms the stringent requirements for the "micro" control precision of motor 5 into the design requirements for the "macro" transmission ratio of the entire mechanical system, enabling the use of a low-cost ordinary motor 5 to achieve high-precision and high-stability control of the clamping force.

[0036] In the above technical solution, in order to stably convert the rotational motion of the low-speed end of the reduction gear set into the axial displacement of the pull plate 3, a reliable threaded transmission structure is required. One specific implementation is that a threaded post 6, coaxial with the pull plate 3, is integrally formed at the center of the side of the pull plate 3 away from the wedge-shaped clamp 2. Correspondingly, a threaded sleeve 7, threadedly connected to the threaded post 6, is formed at the low-speed end of the reduction gear set.

[0037] When the threaded sleeve 7 rotates, the threaded post 6 will move the pull plate 3 axially. In order to ensure that the pull plate 3 has a sufficient range of motion, an axial redundant space 1b needs to be reserved between the inner side of the cylindrical outer shell 1 and the reduction gear set for the axial movement of the pull plate 3.

[0038] Furthermore, to ensure the threaded connection remains effective throughout the entire clamping stroke, the engagement length between the threaded post 6 and the threaded sleeve 7 is designed to be greater than the total stroke of the two wedge-shaped clamps 2 moving axially in the cylindrical housing 1. This design guarantees that the complete radial stroke of the wedge-shaped clamps 2 required to clamp all target suture needles, from the coarsest to the finest, can be fully covered by the total axial stroke of the pull plate 3 without thread stripping.

[0039] Given the extremely high requirements for compact internal space in minimally invasive surgical instruments, the choice of the reduction gear set is crucial. Using a traditional gear system might result in an excessively large radial dimension or inconsistent drive shafts, which would be detrimental to integration.

[0040] Therefore, preferably, the reduction gear set in this embodiment is a planetary gear set 4. The sun gear 4a of the planetary gear set 4 is connected to the output shaft of the motor 5. A side plate 4d is integrally formed on one side of the gear ring 4b, and the aforementioned threaded sleeve 7 is coaxially and fixedly connected to this side plate 4d.

[0041] With this arrangement, the threaded sleeve 7, planetary gear set 4, motor 5 and cylindrical shell 1 can achieve a perfect coaxial alignment, which greatly improves the integration and space utilization of the entire device, making it very suitable for minimally invasive surgical instruments with strict diameter restrictions.

[0042] After determining to use the planetary gear set 4, it is also necessary to solve the problem of its stable installation within the cylindrical housing 1 to ensure that it does not shift or separate when transmitting large torques. To achieve this, a motor 5 mount can be fixedly installed inside the cylindrical housing 1, with the motor 5 coaxially fixedly embedded in the motor 5 mount. The planetary gear set 4 is fixedly installed on the side of the motor 5 mount away from the motor 5. The output shaft of the motor 5 passes through the center of the motor 5 mount and is fixedly connected to the sun gear 4a of the planetary gear set 4 on the other side. All the planet gears 4c of the planetary gear set 4 are mounted together on a planet carrier 4e, which is also coaxially fixed to the motor 5 mount. The side plate 4d of the gear ring 4b is located on the side of the gear ring 4b away from the planet carrier 4e.

[0043] In order to constrain the axial movement of the gear ring 4b when subjected to the reaction force of the threaded transmission, a limiting flange 1c is specially formed on the inner wall of the cylindrical shell 1. This limiting flange 1c is used to axially limit the side plate 4d, and the contact surface between the side plate 4d and the limiting flange 1c is a sliding fit.

[0044] With this configuration, planetary gear 4c is fixed to motor 5 via planet carrier 4e, and sun gear 4a is driven by motor 5, allowing sun gear 4a and planetary gear 4c to rotate relative to each other in a fixed position within the cylindrical outer shell 1. The limiting flange 1c ensures that during threaded engagement, the axial tension transmitted from pull plate 3 will not cause axial displacement of gear ring 4b, thus preventing disengagement from planetary gear 4c. The space between motor 5 and limiting flange 1c constitutes a stable mounting position for planetary gear set 4.

[0045] Although the above structure achieves high-precision force control, any mechanical transmission system composed of multiple parts inevitably has gaps, such as the meshing clearance between gear pairs and the assembly tolerances between various transmission components. These gaps can cause discontinuities in the force transmission path, which may lead to accidental displacement or even detachment of the suture needle during precision operation.

[0046] To overcome this technical challenge, the output section of the planetary gear set 4 can be improved. Specifically, a buffer circular plate 9 is attached to one side of the side plate 4d. This buffer circular plate 9 is coaxial with the side plate 4d, but the two can rotate relative to each other. The threaded post 6 is no longer directly connected to the side plate 4d, but is coaxially fixed to the side of the buffer circular plate 9 away from the side plate 4d. To achieve flexible transmission between the buffer circular plate 9 and the side plate 4d, several buffer grooves 9a are formed on the buffer circular plate 9, evenly distributed along its circumference. The extending direction of these buffer grooves 9a is perpendicular to the radial direction of the buffer circular plate 9. Correspondingly, several stops 10 are formed on the side of the side plate 4d that is attached to the buffer circular plate 9, evenly distributed along its circumference. The number of stops 10 is the same as the number of buffer grooves 9a and their positions match.

[0047] Each stop 10 extends to the middle of the corresponding buffer groove 9a. Within each buffer groove 9a, a spring 11 is installed on each side of the stop 10. The key feature of this structure is that it introduces a "preload" into the force transmission path.

[0048] In the clamped state, the continuous elastic force is equivalent to applying a preload to the entire transmission chain, which can actively eliminate all accumulated gaps caused by gear meshing, parts assembly, etc.

[0049] When the transmission direction changes or the load fluctuates, the transmission chain will not experience a gap transition process due to the presence of preload, but will always remain in a tightly connected state, thereby ensuring the continuity and stability of the clamping force and fundamentally avoiding the risk of clamping failure caused by transmission gap.

[0050] To ensure the stability and accuracy of the wedge-shaped clamp 2's movement within the V-shaped opening 1a, and to prevent it from deflecting or jamming under force, its movement trajectory needs precise guidance. This embodiment provides an effective guiding method by forming a first T-shaped groove on the inclined wall of the V-shaped opening 1a, and forming a first T-shaped slide bar 2a on the inclined surface 2e of the wedge-shaped clamp 2 that matches the first T-shaped groove. The cooperation between the T-shaped groove and the T-shaped slide bar provides the wedge-shaped clamp 2 with a stable and unique movement path, ensuring that it can smoothly slide along a preset angle.

[0051] Furthermore, under threaded drive, the pull plate 3 should only undergo axial translation and not rotation. The conventional approach is to add an additional limiting structure to the pull plate 3, but this increases the number of parts and assembly complexity.

[0052] Based on the structure of the first T-shaped groove and slide bar described above, this embodiment proposes a simpler solution. A second T-shaped groove is formed on the pull plate 3, extending along its diameter, and a second T-shaped slide bar 2b is formed at the corresponding end of each wedge-shaped clamp 2, which is slidably connected to the second T-shaped groove.

[0053] This design achieves two goals at once: First, the wedge-shaped clamp 2 slides in the second T-shaped groove of the pull plate 3 via the second T-shaped slide bar 2b, thus realizing the aforementioned function of "the wedge-shaped clamp 2 being able to move radially along the pull plate 3"; Secondly, since the wedge-shaped clamps 2 are already restricted from rotating by the cooperation of the first T-shaped groove and the slide bar, they in turn play a role in limiting the rotation of the pull plate 3 by connecting the second T-shaped slide bar 2b with the second T-shaped groove.

[0054] In this way, without any additional parts, the pull plate 3 can be guaranteed to make only pure axial movement when the threaded sleeve 7 rotates, making the structural design more streamlined and efficient.

[0055] Finally, to further enhance the clamping stability of the suture needle while achieving parallel clamping, and to prevent the suture needle from slipping or rotating when puncturing highly resilient tissue, anti-slip textures 2d can be formed on the clamping surfaces 2c of the two wedge-shaped clamps 2 to stabilize the suture needle. These anti-slip textures 2d can significantly increase the static friction coefficient between the clamping surface 2c and the suture needle surface, thereby ensuring a firm and reliable grip on the suture needle during surgery.

[0056] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of the embodiments of the present invention.

Claims

1. A suture needle holder for a minimally invasive surgical robot, characterized in that, The utility model relates to a kind of suture needle clamping device, including: Cylinder shell (1), one end is formed with V-shaped opening (1a) connected with the inside of the cylinder shell (1); Two wedge-shaped clamping blocks (2) are symmetrically arranged in the V-shaped opening (1a), and the opposite side of the two wedge-shaped clamping blocks (2) is formed with parallel clamping surfaces (2c), and the side away from the wedge-shaped clamping block (2) is formed with a bevel part (2e) for matching the inclined wall of the V-shaped opening (1a), and the bevel part (2e) and the corresponding inclined wall of the V-shaped opening (1a) are always in sliding fit state; Pull disc (3) is coaxially arranged in the cylinder shell (1), and the end of the two wedge-shaped sliders inside the cylinder shell (1) is slidably connected with the pull disc (3), and the connection between the wedge-shaped slider and the pull disc (3) is configured to enable the wedge-shaped slider to displace radially along the pull disc (3); The reduction gear set is arranged inside the cylinder shell (1), and is located on the side away from the wedge-shaped clamping block (2) of the pull disc (3), and the low-speed end of the reduction gear set is threadedly connected with the pull disc (3), so as to convert the rotary motion of the low-speed end of the reduction gear set into the axial displacement of the pull disc (3); Motor (5) is arranged inside the cylinder shell (1), and is located on the side away from the pull disc (3) of the reduction gear set, and the output shaft of the motor (5) is connected with the high-speed end of the reduction gear set.

2. The suture needle holder for minimally invasive surgical robots according to claim 1, wherein, A threaded column (6) is formed at the center of the side away from the wedge-shaped clamping block (2) of the pull disc (3), the threaded column (6) is coaxially fixedly connected with the pull disc (3), and the low-speed end of the reduction gear set is formed with a threaded sleeve (7) threadedly connected with the threaded column (6); The inside of the cylinder shell (1) and the reduction gear set form an axial redundant space (1b) for the axial motion of the pull disc (3); The engagement length between the threaded column (6) and the threaded sleeve (7) is greater than the total stroke of the two wedge-shaped clamping blocks (2) moving in the axial direction of the cylinder shell (1), so that the axial total stroke can be completely converted into the radial clamping stroke of the wedge-shaped clamping block (2) required to cover all target suture needle diameters.

3. The suture needle holder for minimally invasive surgical robots as claimed in claim 1 wherein, The reduction gear set is a planetary gear set (4), the sun gear (4a) of the planetary gear set (4) is connected with the output shaft of the motor (5), one side of the gear ring (4b) of the reduction gear set is formed with an integral side plate (4d), the threaded sleeve (7) is coaxially fixedly connected with the side plate (4d), and the threaded sleeve (7), the planetary gear set (4), the motor (5) and the cylinder shell (1) are coaxially arranged.

4. The suture needle holder for use in minimally invasive surgery robots according to claim 3, characterized in that, The inner side of the cylindrical shell (1) is fixedly provided with a motor (5) seat, the motor (5) is coaxially fixedly embedded on the motor (5) seat, the planetary gear set (4) is fixedly arranged on the side of the motor (5) seat away from the motor (5), and the output shaft of the motor (5) penetrates the center of the motor (5) seat and is fixedly connected with the sun gear (4a) of the planetary gear set (4) on the other side. All the planet gears (4c) of the planetary gear set (4) are arranged on a planet carrier (4e) in common, the planet carrier (4e) is coaxially fixedly connected with the motor (5) seat, the side plate (4d) is located on the side of the ring gear (4b) away from the planet carrier (4e), a limiting flange (1c) is formed on the inner wall of the cylindrical shell (1), the limiting flange (1c) is used for axially limiting the side plate (4d), and the contact surface of the side plate (4d) and the limiting flange (1c) is in sliding fit.

5. The suture needle holder for use in minimally invasive surgery robots as claimed in claim 3 wherein, A buffer circular plate (9) is arranged on one side of the side plate (4d) in abutment, the buffer circular plate (9) is coaxial with the side plate (4d) and can rotate relative to the side plate (4d), and the threaded column (6) is coaxially fixedly connected to the side of the buffer circular plate (9) away from the side plate (4d). A plurality of buffer grooves (9a) are formed on the buffer circular plate (9) and uniformly distributed along the axial direction of the buffer circular plate (9), the extending direction of the buffer grooves (9a) is perpendicular to the radial direction of the buffer circular plate (9), a plurality of stop blocks (10) are formed on the side of the side plate (4d) abutting the buffer circular plate (9) and uniformly distributed along the circumferential direction, the number of the stop blocks (10) is consistent with the number of the buffer grooves (9a) and the positions are matched. Each stop block (10) extends to the middle position of the corresponding buffer groove (9a), two springs (11) are arranged in each buffer groove (9a) and located on the two sides of the stop block (10) respectively, so that the buffer circular plate (9) and the side plate (4d) are coaxially and flexibly connected.

6. The suture needle holder for use in minimally invasive surgery robots as claimed in claim 1 wherein, A first T-shaped sliding groove is formed on the inclined wall of the V-shaped opening (1a), and a first T-shaped sliding strip (2a) matched with the first T-shaped sliding groove is formed on the inclined surface (2e) of the wedge-shaped clamping block (2).

7. The suture needle holder for use in minimally invasive surgery robots according to claim 6, characterized in that, A second T-shaped sliding groove is formed on the pull disc (3) and penetrates the diameter direction of the pull disc (3), and a second T-shaped sliding strip (2b) is formed on the corresponding end of each wedge-shaped clamping block (2) and is in sliding connection with the second T-shaped sliding groove.

8. The suture needle holder for use in minimally invasive surgery robots as claimed in claim 1 wherein, Anti-skid lines (2d) are formed on the clamping surface (2c) and are used for stably clamping the suture needle.

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