Sewing mechanism

Abstract

The invention provides a stitching mechanism and a stitching instrument thereof. The suturing mechanism is configured to fit the probe tip and includes a suturing body including a base and a suturing structure. The base comprises a base body, and the base body comprises a first side and a second side which are opposite to each other in the thickness direction of the base body; the suturing structure is arranged on the second side of the base body and is constructed to execute suturing operation, and the suturing structure comprises a suturing assembly and a suturing transmission assembly for driving the suturing assembly; wherein the base body comprises a detection pipe head containing groove formed in the first side and a sewing transmission containing groove formed in the second side, and the orthographic projection, on the plane, of the detection pipe head containing groove and the orthographic projection, on the plane, of the sewing transmission containing groove are mutually overlapped in the thickness direction. The sewing mechanism is small in size in the thickness direction.

Description

TECHNICAL FIELD

[0001] At least one embodiment of the present disclosure relates to a suturing mechanism. BACKGROUND

[0002] Endoscopic surgery is a key field of modern surgical technology, in which a suturing device plays an indispensable role in performing precise suturing of tissues. The suturing device mainly comprises a suturing mechanism (or working head), which can be mounted to the front end of an endoscope. With the visual field provided by the endoscope, a surgeon can manipulate the suturing mechanism to perform suturing actions on the target tissue under direct vision. SUMMARY

[0003] At least one embodiment of the present disclosure relates to a suturing mechanism with a small size in the thickness direction.

[0004] The suturing mechanism provided by the embodiments of the present disclosure is configured to assemble a probe tube head and comprises a suturing body, which comprises:

[0005] a base comprising a base body extending substantially along a plane and having a thickness direction perpendicular to the plane, the base body comprising a first side and a second side opposite to each other in the thickness direction;

[0006] a suturing structure arranged on the second side of the base body and configured to perform a suturing operation, the suturing structure comprising a suturing assembly and a suturing transmission assembly driving the suturing assembly;

[0007] wherein the base body comprises a probe tube head accommodating groove for assembling the probe tube head arranged on the first side and a suturing transmission accommodating groove for accommodating the suturing transmission assembly arranged on the second side, the probe tube head accommodating groove and the suturing transmission accommodating groove are arranged opposite to each other in the thickness direction, and the orthogonal projection of the probe tube head accommodating groove on the plane and the orthogonal projection of the suturing transmission accommodating groove on the plane overlap with each other in the thickness direction.

[0008] In at least some embodiments, the suturing transmission assembly comprises a driving member, a driven member connected to the driving member, the suturing assembly comprises a suturing needle connected to the driven member, the driving member drives the suturing needle to rotate through the driven member; the suturing transmission accommodating groove comprises a first driven member accommodating groove, the driven member is movably accommodated in the first driven member accommodating groove; the probe tube head accommodating groove and the first driven member accommodating groove are arranged opposite to each other in the thickness direction.

[0009] In at least some embodiments, the suturing body further comprises:

[0010] a cover structure disposed along the thickness direction on a side of the suture structure away from the base body and configured to cover the base body and define a containing space with the base body, wherein the suture structure is located in the containing space, and the containing space includes the suture transmission accommodation groove;

[0011] The cover structure includes a second driven member accommodation groove, and the first driven member accommodation groove and the second driven member accommodation groove collectively accommodate the driven member.

[0012] In at least some embodiments, the base body is configured to be fixedly connected to the cover structure.

[0013] In at least some embodiments, the suture transmission assembly further includes a driving member, the driving member is connected to the driven member, and the driven member is connected to the suture needle.

[0014] In at least some embodiments, any two adjacent components of the driving member, the driven member, and the driving member that are in transmission connection are in tooth transmission.

[0015] In at least some embodiments, the driving member includes a straight rack, the driven member includes a gear set, and the driving member includes an arc-shaped rack; and the gear set is rotatably accommodated in the first driven member accommodation groove.

[0016] In at least some embodiments, the suture body further includes:

[0017] An auxiliary suture structure including a grabbing component configured to move in a direction parallel to an axial direction to perform a grabbing operation, the axial direction being parallel to an extension direction of the probe tube head.

[0018] In at least some embodiments,

[0019] The probe tube head has a third axis parallel to the axial direction;

[0020] The probe tube head accommodation groove is disposed along a first axis parallel to or coaxial with the third axis;

[0021] The cover structure has a grabbing passage configured to accommodate the grabbing component, the grabbing component being configured to grab tissue to perform an auxiliary suture operation, the grabbing passage being disposed along a second axis parallel to or coaxial with a fourth axis of the grabbing component;

[0022] The suture needle is a ring-shaped suture needle, and the ring-shaped suture needle rotates around a rotation center;

[0023] The first axis and the second axis are arranged in a common plane, and the rotation center of the suture needle is located in the common plane.

[0024] In at least some embodiments, the suture body extends along an axial direction, the suture body has a length along the axial direction and a width along the thickness direction perpendicular to the axial direction, the length is 20-60 mm, and the width is 10-25 mm. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only related to some embodiments of the present disclosure, and not limit the present disclosure.

[0026] Figure 1 A schematic view of a suture mechanism provided by an embodiment of the present disclosure installed on a pipe head for detection.

[0027] Figure 2 A schematic view of a suture mechanism provided by an embodiment of the present disclosure not installed on a pipe head for detection.

[0028] Figure 3 An exploded view of a suture mechanism provided by an embodiment of the present disclosure.

[0029] Figures 4-6 An exploded view of a partial structure of a suture mechanism provided by an embodiment of the present disclosure.

[0030] Figure 7 An exploded view of a suture mechanism / suture provided by an embodiment of the present disclosure.

[0031] Figure 8 A schematic view of a partial structure of a suture mechanism provided by an embodiment of the present disclosure (straight rack is located at an initial position).

[0032] Figure 9 An exploded view of a suture mechanism / suture provided by an embodiment of the present disclosure.

[0033] Figure 10 A schematic view of an arc-shaped rack in a suture mechanism provided by an embodiment of the present disclosure.

[0034] Figure 11 A schematic view of a driving pin and an elastic member in an arc-shaped rack in a suture mechanism provided by an embodiment of the present disclosure.

[0035] Figure 12 A schematic view of an arc-shaped rack and a suture needle in a suture mechanism provided by an embodiment of the present disclosure.

[0036] Figure 13A schematic view of an arcuate rack and suture needle cooperation in a suture mechanism is provided for embodiments of the present disclosure.

[0037] Figure 14 A schematic view of a lower surface of an arcuate rack in a suture mechanism is provided for embodiments of the present disclosure.

[0038] Figure 15 A schematic view of an unlock cover in a suture mechanism is provided for embodiments of the present disclosure.

[0039] Figure 16 A schematic view of an installation of an unlock cover and a mount in a suture mechanism is provided for embodiments of the present disclosure.

[0040] Figure 17 A schematic view of a linear rack in a suture mechanism is provided for embodiments of the present disclosure.

[0041] Figure 18 A schematic view of a suture needle being driven in a suture mechanism is provided for embodiments of the present disclosure.

[0042] Figure 19 A schematic view of a suture drive assembly in a suture mechanism is provided for another embodiment of the present disclosure.

[0043] Figure 20 A schematic view of a suture drive assembly in a suture mechanism is provided for another embodiment of the present disclosure.

[0044] Figure 21A A top view of a base body in a suture mechanism is provided for embodiments of the present disclosure.

[0045] Figure 21B An exploded schematic view of a suture mechanism is provided for embodiments of the present disclosure.

[0046] Figure 22 A schematic view of a grasping channel in a suture mechanism is provided for embodiments of the present disclosure.

[0047] Figure 23A A schematic view of a slide and a cover body in a suture mechanism is provided for embodiments of the present disclosure.

[0048] Figure 23B A schematic view of a slide and a cover body in a suture mechanism is provided for embodiments of the present disclosure.

[0049] Figure 24 A schematic view of a positioning structure in a suture mechanism is provided for embodiments of the present disclosure.

[0050] Figure 25A schematic view of a grabber accommodation slot in a suturing mechanism provided for embodiments of the present disclosure.

[0051] Figure 26 An exploded schematic view of a suturing mechanism provided for embodiments of the present disclosure.

[0052] Figure 27A A schematic view of a suturing mechanism provided for embodiments of the present disclosure.

[0053] Figure 27B A schematic view of a suturing mechanism provided for embodiments of the present disclosure. Figure 27A An exploded schematic view of a suturing mechanism provided for embodiments of the present disclosure.

[0054] Figure 28 A schematic view of a suturing body of a suturing mechanism provided for embodiments of the present disclosure.

[0055] Figure 29 A schematic view of an arcuate rack accommodation slot and a needle accommodation slot in a suturing mechanism provided for embodiments of the present disclosure. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and not used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0057] It should be understood that the terms "proximal" and "distal" used herein are relative to an operator who operates the stapler to perform a stapling operation. The term "proximal" refers to a part close to the operator, and the term "distal" refers to a part away from the operator. That is, the operation handle for controlling the suturing mechanism is proximal, and the opening at the front end of the suturing mechanism is distal. For example, the proximal end of a certain component means the end relatively close to the operation handle, and the distal end means the end relatively close to the opening at the front end of the suturing mechanism.

[0058] In the present disclosure, unless specifically defined and limited otherwise, the terms "connected", "coupled", and the like, are to be construed broadly and shall include both direct and indirect connecting or coupling. They shall not be construed as being limited to direct connecting or coupling unless otherwise specifically defined and limited. They shall also cover an arrangement in which spacing is present between the elements connected or coupled, so long as they can interact with each other. The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art according to the specific circumstances. It should be noted that when the terms "connected" and "coupled" are preceded by a limiting word, the meaning of the terms is limited by the limiting word. For example, "detachably connected" means detachable connection, and does not include integration, but does not exclude movable connection.

[0059] Figure 1 A schematic view of a suture mechanism provided by an embodiment of the present disclosure mounted on a probe tube head. Figure 2 A schematic view of a suture mechanism provided by an embodiment of the present disclosure not mounted on a probe tube head.

[0060] As shown in Figure 1 and Figure 2 The suture mechanism 900 is mounted on the probe tube head 930 and enters the human body along with the probe tube head 930 during the endoscopic surgery. The suture mechanism 900 can perform a suture operation on the tissue. Figure 2 The suture transmission tube 9701 and the spiral grabbing transmission tube 9702 are also shown. Figure 1 and Figure 2 The strap 430 is shown. The suture mechanism 900 can be mounted on the probe tube head 930 through the strap 430.

[0061] For example, the probe tube can be an endoscope, and further for example, can be a gastroscope.

[0062] An embodiment of the present disclosure provides that the suture mechanism 900 can be applied to a stomach surgery, for example, can be applied to a stomach reduction surgery. The suture surgery of the stomach is recoverable, and the stomach can recover after the stitches are removed within a certain time.

[0063] Figure 3 An exploded view of a suture mechanism provided by an embodiment of the present disclosure. Figures 4-6 An exploded view of a partial structure of a suture mechanism provided by an embodiment of the present disclosure. Figure 7 An exploded view of a suture mechanism / suture provided by an embodiment of the present disclosure. Figure 8 A schematic view of a partial structure of a suture mechanism provided by an embodiment of the present disclosure (straight rack is at an initial position). Figure 9 An exploded view of a suture mechanism / suture provided by an embodiment of the present disclosure. Figure 10A schematic view of an arc-shaped rack in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 11 A schematic view of a driving pin and an elastic element in an arc-shaped rack in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 12 A schematic view of an arc-shaped rack and a suturing needle in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 13 A schematic view of an arc-shaped rack and a suturing needle in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 14 A schematic view of a lower surface of an arc-shaped rack in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 15 A schematic view of an unlocking cover in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 16 A schematic view of an unlocking cover and a mounting element in a suturing mechanism is provided for an embodiment of the present disclosure. Figure 17 A schematic view of a straight rack in a suturing mechanism in a terminal position is provided for an embodiment of the present disclosure. Figure 18 A schematic view of a suturing needle being driven in a suturing mechanism is provided for an embodiment of the present disclosure.

[0064] As shown in the drawings, Figures 3-9 An embodiment of the present disclosure provides a suturing mechanism 900, which comprises a suturing assembly 950 and a suturing transmission assembly 960, the suturing assembly 950 comprising a suturing needle 951, the suturing transmission assembly 960 being configured to drive the suturing needle 951; the suturing mechanism 900 has a proximal end and a distal end, the proximal end of the suturing mechanism 900 being a power input end of the suturing transmission assembly 960, the suturing transmission assembly 960 being configured to receive power and transmit power to drive the suturing needle 951; the suturing transmission assembly 960 comprises a plurality of components, and between any two adjacent components having a transmission connection, a gear transmission is formed.

[0065] The suturing mechanism 900 provided by the embodiment of the present disclosure, among the plurality of components of the suturing transmission assembly 960, a gear transmission is formed between any two adjacent components having a transmission connection, the gear transmission has high precision, can stably transmit when the transmission torque is large, is beneficial to the suturing operation of the suturing structure, and improves the stability of the suturing operation.

[0066] Figures 7-9 The suturing transmission pipe 9701 is shown. The suturing transmission pipe 9701 is connected with the suturing transmission assembly 960 to provide power for the suturing transmission assembly 960. The suturing transmission pipe 9701 comprises a driving flexible shaft, for example, the driving flexible shaft comprises a steel wire, and can be driven manually or electrically. The driving flexible shaft is connected with the suturing transmission assembly 960 at the proximal end of the suturing mechanism to provide power for the suturing transmission assembly 960.

[0067] Although the steel wire has a certain rigidity, when moving forward, bending deformation may still occur, resulting in unstable driving.

[0068] As shown in Figures 1-9 , the embodiment of the present disclosure also provides a suturing mechanism 900 configured to assemble a probe tube head 930 and comprising a suturing body 990. For example, the suturing body 990 comprises a base 910 and a suturing structure. The base 910 comprises a base body 911 extending substantially along a plane (e.g. the plane P shown in Figure 7 ) and having a thickness direction (e.g. the X direction shown in Figure 3 ) perpendicular to the plane P, the base body 911 comprising a first side S1 and a second side S2 opposite to each other in the thickness direction X. In the thickness direction X, the first side S1 is close to the probe tube head 930, and the second side S2 is away from the probe tube head 930. The base 910 further comprises a probe tube head accommodating groove (e.g. the accommodating portion 940 shown in Figure 3 ) for assembling the probe tube head 930 opened on the first side S1 of the base body 911 and a suturing transmission accommodating groove 980 for accommodating a suturing transmission assembly 960 opened on the second side S2 of the base body 911. The suturing structure is arranged on the second side S2 of the base body 911 and is configured to perform a suturing operation, the suturing structure comprising a suturing assembly 950 and a suturing transmission assembly 960 for driving the suturing assembly 950.

[0069] As shown in Figure 21A and Figure 21B , the embodiment of the present disclosure provides a suturing mechanism 900, the accommodating portion 940 and the suturing transmission accommodating groove 980 are arranged opposite to each other in the thickness direction X, and the orthogonal projection of the accommodating portion 940 on the plane P and the orthogonal projection of the suturing transmission accommodating groove 980 on the plane P overlap with each other in the thickness direction X (e.g. the overlapping area 302 shown in Figure 21A ). In this way, the probe tube head 930 is embedded in the accommodating portion 940 in the thickness direction X and overlaps with the relatively thin area of the base body 911 (i.e. the area where the suturing transmission accommodating groove 980 is located), which can ensure that the width of the suturing mechanism 900 in the thickness direction X is small. In addition, in some technologies, the orthogonal projection of the accommodating portion 940 on the plane P and the orthogonal projection of the suturing transmission accommodating groove 980 on the plane P do not overlap in the thickness direction X, which can increase the length of the base body 911 in the axial direction (e.g. the Z direction shown in Figure 3 ), and further increase the total length of the suturing mechanism in the axial direction Z, which is not conducive to the flexible movement of the suturing mechanism in the tissue and affects the suturing effect. In the embodiment of the present disclosure, through the above arrangement, the probe tube head can better observe the suturing effect while meeting the requirement of small overall size of the suturing mechanism.

[0070] For example, as shown in Figure 21BAs shown, the base body 911 has different thicknesses corresponding to the portion of the receiving portion 940. The base body 911 includes a first portion 304 corresponding to the bottom of the receiving portion 940 and a second portion 306 corresponding to the sidewall of the receiving portion 940, wherein the thickness of the first portion 304 is less than the thickness of the second portion 306. In the thickness direction X, the first portion 304 is directly opposite the gear accommodating portion 9103, that is, the orthogonal projection of the first portion 304 on the plane P and the orthogonal projection of the gear accommodating portion 9103 on the plane P overlap each other. In this way, the width of the suturing mechanism 900 in the thickness direction X can be further ensured to be small.

[0071] For example, the suturing transmission assembly 960 includes a driving member and a driven member, such as Figure 4 As shown, the suturing transmission accommodating groove 980 includes a first driving member accommodating groove G11 and a first driven member accommodating groove G21, so as to facilitate the accommodation of the linear rack 961 and the gear set 962, respectively. Further, the depth of the first driving member accommodating groove G11 is greater than the depth of the first driven member accommodating groove G21. By making the depth of the first driving member accommodating groove G11 deeper, the space for accommodating the driving member (such as the linear rack 961) in the base body 911 can be increased.

[0072] For example, the suturing assembly includes a suturing needle connected to the driven member, the driving member drives the suturing needle to rotate through the driven member, and the driven member is movably accommodated in the first driven member accommodating groove G21, so as to achieve the driving of the suturing needle while providing accommodation space for the driven member. For example, the probe tube head accommodating groove (such as the receiving portion 940) is arranged opposite the first driven member accommodating groove G21 in the thickness direction X.

[0073] For example, the suturing mechanism provided by the embodiments of the present disclosure further includes a driving member, the driving member is connected to the driven member, the driven member is connected to the driving member, the driving member is connected to the suturing assembly 950, and the driving member is configured to drive the suturing assembly 950 to move through the driven member and the driving member. For example, the driving member includes a linear rack 961, the driven member includes a gear set 962, and the linear rack 961 is connected to the gear set 962. Through the movement of the linear rack 961, the rotation of the gear set 962 can be driven. For example, the driving member includes an arc-shaped rack 963 (such as Figure 8 and Figure 17 As shown). The linear rack 961 is connected to the gear set 962, the gear set 962 is connected to the arc-shaped rack 963, and the linear rack 961 drives the suturing assembly 950 to move through the gear set 962 and the arc-shaped rack 963, so as to further ensure the stability of the driving assembly 950 during the performance of the suturing operation. Further, for example, the arc-shaped rack 963 is configured to drive the suturing needle 951 to rotate, so as to enable the suturing needle 951 to perform the suturing operation.

[0074] For example, the transmission between any two adjacent and transmission-connected components of the driving member, the driven member and the driving member is a tooth transmission. For example, the driving member comprises a straight rack, the driven member comprises a gear set, and the driving member comprises an arc-shaped rack; the gear set is rotatably accommodated in the first driven member accommodating groove. In this way, the gear set can be provided with accommodation space while the suture needle is driven.

[0075] For example, in the suture mechanism provided by the embodiments of the present disclosure, as shown in Figure 8 and Figure 17 , the straight rack 961 is configured to reciprocate, the straight rack 961 is configured to disengage the arc-shaped rack 963 from driving the suture needle 951 when moving from the proximal end to the distal end (as shown in Figure 8 ), and the straight rack 961 is configured to drive the arc-shaped rack 963 to rotate the suture needle 951 to perform the suturing operation when moving from the distal end to the proximal end (as shown in Figure 17 ).

[0076] As shown in Figure 17 and Figure 18 , the suture needle 951 rotates clockwise. The direction perpendicular to the paper is the rotation axis of the suture needle. The suture needle 951 always rotates in one direction, Figure 17 and Figure 18 , taking the clockwise rotation as an example. The arc-shaped rack 963 can rotate clockwise and counterclockwise.

[0077] For example, as shown in Figure 8 and Figure 17 , the straight rack 961 is configured to drive the arc-shaped rack 963 to reciprocate between a first position and a second position, the straight rack 961 is located at the initial position, and the arc-shaped rack 963 is located at the first position (as shown in Figure 8 ), and the straight rack 961 is located at the terminal position, and the arc-shaped rack 963 is located at the second position (as shown in Figure 17 ). The straight rack 961 moves between the initial position and the terminal position. In response to the movement of the straight rack 961 from the initial position to the terminal position, the arc-shaped rack 963 moves from the first position to the second position to drive the suture needle 951 to move a single driving stroke. For example, the rotation angle of the single driving stroke of the suture needle 951 is n-th of 360°, and n is an integer greater than or equal to 1. The embodiments of the present disclosure take the rotation angle of the single driving stroke of the suture needle 951 as 90° as an example. That is, the suture needle 951 rotates four times to complete the sequential suturing operation. From the position of the suture needle 951 shown in Figure 17 to the position of the suture needle shown in Figure 18 , the single driving stroke of the suture needle 951 is completed.

[0078] As shown in Figure 17 and Figure 18As shown, the steel wire in the suture transmission tube 9701 is pulled backward, causing the linear rack 961 to move from right to left. The linear rack 961 moves from the end position back to the starting position. Correspondingly, the arc rack 963 moves from the second position back to the first position, driving the suture needle 951 to perform the suture operation. The driving effect is better when the steel wire is pulled backward, making the driving of the suture needle more stable.

[0079] like Figure 8 , Figure 17 and Figure 18 As shown, the suture needle 951 rotates 90°. In the same way that the arc-shaped rack 963 drives the suture needle 951 as described above, the arc-shaped rack 963 can drive the suture needle 951 to rotate 4 times 90°, thereby completing the operation of suturing one stitch with the suture needle 951.

[0080] like Figures 1-9 As shown, the front end of the suture mechanism 900 extends beyond the probe tip 930 to facilitate tissue suturing. The front end of the suture mechanism 900 is the distal end of the suture mechanism 900, and the other end of the suture mechanism 900 ( Figure 1 and Figure 2 The end where the strap 430 is shown is its proximal end.

[0081] For example, such as Figure 3 , Figures 7-9 As shown, the suture transmission assembly 960 includes a straight rack 961 near the proximal end, an arcuate rack 963 near the distal end, and a gear set 962 located between the arcuate rack 963 and the straight rack 961; the straight rack 961 is movable to drive the gear set 962 to rotate, which in turn drives the arcuate rack 963 to rotate. The arcuate rack 963 of the suture transmission assembly 960 is configured to drive the suture needle 951 to rotate, so that the suture needle 951 performs the suture operation.

[0082] The suture mechanism 900 provided in the embodiments of this disclosure includes a suture transmission assembly 960 comprising a linear rack 961, an arc-shaped rack 963, and a gear set 962 located between the arc-shaped rack 963 and the linear rack 961. High-precision and stable power transmission is achieved through the cooperation of the linear racks 961 and arc-shaped racks 963 at both ends with the gear set 962 in the middle.

[0083] For example, such as Figure 3 , Figures 10-12 As shown, the arc-shaped rack 963 has a drive pin 9631 and an elastic element 9632. The drive pin 9631 protrudes from the surface of the arc-shaped rack 963, and the elastic element 9632 is configured to allow the drive pin 9631 to move axially along the drive pin 9631 to form a telescopic drive structure. The axial direction of the drive pin 9631 can refer to the direction in which the drive pin 9631 extends. Figure 11The axial direction of the driving pin 9631 is vertical, and a portion of the driving pin 9631 protrudes from the arc-shaped rack 963. The elastic member 9632 can be arranged in the groove of the arc-shaped rack 963. By arranging the driving pin 9631 and the elastic member 9632, the driving pin 9631 can abut against the suture needle 951 to drive the suture needle 951 to move with the arc-shaped rack 963, and the driving pin 9631 can be compressed to no longer abut against the suture needle 951 to separate the arc-shaped rack 963 and the suture needle 951. Figure 13 That is, the state in which the driving pin 9631 abuts against the suture needle 951, in the case that the arc-shaped rack 963 moves clockwise, the suture needle 951 is driven to move clockwise. Figure 13 The arrow direction shown is the clockwise direction. When the arc-shaped rack 963 moves counterclockwise, the driving pin 9631 is compressed and can be separated from the suture needle. The normal state of the driving pin 9631 is the protruding state, that is, the state of protruding from the arc-shaped rack 963.

[0084] For example, as shown in Figure 12 and Figure 13 The suture needle 951 is provided with a driving groove 9510 arranged on the side of the suture needle 951 facing the arc-shaped rack 963, and the driving groove 9510 is configured to accommodate the driving pin 9631. The driving pin 9631 is located in the driving groove 9510 to abut against the suture needle 951, thereby driving the suture needle 951 to move.

[0085] For example, as shown in Figure 12 and Figure 13 The driving groove 9510 has a first inclined wall W1 arranged inclinedly relative to the axial direction of the driving pin 9631, and the first inclined wall W1 is configured to compress the elastic member 9632 when the arc-shaped rack 963 moves and drives the driving pin 9631 to pass thereby, so that the driving pin 9631 moves toward the direction close to the arc-shaped rack 963. As shown in Figure 13 When the arc-shaped rack 963 moves counterclockwise, the driving pin 9631 moves to the first inclined wall W1, and the driving pin 9631 compresses the elastic member 9632 under the action of the first inclined wall W1, and then the driving pin 9631 moves downward, thereby separating from the driving groove 9510, so that the arc-shaped rack 963 and the suture needle 951 are separated.

[0086] For example, as shown in Figure 12 and Figure 13 The driving groove 9510 also has a first abutting wall W2 configured to abut against the side surface of the driving pin 9631 to drive the suture needle 951 to move with the arc-shaped rack 963. Figure 13 As shown, the first abutting wall W2 abuts against the side surface of the driving pin 9631, so that when the arc-shaped rack 963 moves clockwise, the suture needle 951 is driven to move clockwise.

[0087] For example, as shown in Figure 12 and Figure 13 The first abutting wall W2 is parallel to the axial direction of the driving pin 9631 to facilitate increasing the contact area between the first abutting wall W2 and the driving pin 9631. For example, the first abutting wall W2 can extend vertically, which is a vertical wall.

[0088] For example, as shown in Figure 12 and Figure 13 To facilitate the disengagement of the arc-shaped rack 963 from the suture needle 951, the bottom end of the first inclined wall W1 is closer to the first abutting wall W2 than the top end of the first inclined wall W1.

[0089] For example, as shown in Figure 12 and Figure 13 The driving slot 9510 also has a first bottom wall W3, and the first abutting wall W2 is connected to the first inclined wall W1 through the first bottom wall W3. The first bottom wall W3 is provided to facilitate accommodating the top of the driving pin 9631.

[0090] For example, as shown in Figure 12 and Figure 13 To better accommodate the top of the driving pin 9631, the size of the first bottom wall W3 is greater than the size of the top surface of the driving pin 9631.

[0091] For example, as shown in Figure 12 and Figure 13 To improve the stability of the suture needle driving, the suture needle 951 is provided with at least two driving slots 9510, and the arc-shaped rack 963 is provided with at least two driving pins 9631. The central angles of the two adjacent driving slots 9510 are equal to the central angles of the two adjacent driving pins 9631. The driving slot 9510 and the driving pin 9631 are correspondingly arranged.

[0092] For example, as shown in Figure 12 and Figure 13 The suture needle 951 is provided with two driving slots 9510, and the arc-shaped rack 963 is provided with two driving pins 9631. The central angles of the two driving slots 9510 are 90°, and the central angles of the two driving pins 9631 are 90°. Due to the viewing angle, Figure 3 and Figure 8 Another driving slot 9510 is not shown, which is arranged at the corresponding position of the unmarked driving pin of the suture needle 951.

[0093] For example, as shown in Figure 9 , Figure 8 and Figure 8As shown, the suture assembly 950 further comprises a retreat prevention piece 952, and the suture needle 951 further comprises a retreat prevention groove 9512 on the outer surface of the suture needle 951, the retreat prevention piece 952 is configured to abut against the suture needle 951 at the retreat prevention groove 9512 to prevent the suture needle 951 from retreating, i.e., to prevent the suture needle 951 from retreating in the opposite direction of the driving. The suture needle 951 rotates in one direction to achieve tissue suturing. When the arcuate rack 963 is separated from the suture needle 951 to release the suture needle 951 from the suture assembly 950, Figure 17 When the arcuate rack 963 moves to the lower position as shown, in order to fix the position of the suture needle 951 stably, the retreat prevention piece 952 is used to prevent the suture needle 951 from retreating. When the suture needle 951 rotates clockwise, the retreat prevention piece 952 is out of the retreat prevention groove 9512 through the first inclined wall W1; when the suture needle 951 rotates counterclockwise, the first abutment wall W2 abuts against the retreat prevention piece 952, so that the suture needle 951 cannot move in the opposite direction.

[0094] For example, Figure 18 , Figure 8 and Figure 18 As shown, the suture transmission assembly 960 comprises a needle driving piece configured to perform reciprocating motion, the reciprocating motion comprising a driving motion and a retreating motion, the needle driving piece performs the driving motion to drive the suture needle 951, and when the needle driving piece performs the retreating motion, the retreat prevention piece 952 is configured to abut against the suture needle 951 at the retreat prevention groove 9512 to prevent the suture needle 951 from retreating in the opposite direction of the driving motion.

[0095] The needle driving piece refers to the arcuate rack 963. The needle driving piece being configured to perform reciprocating motion refers to the arcuate rack 963 reciprocating between the first position and the second position. Figure 17 and Figure 8 The position of the arcuate rack 963 as shown is the first position, Figure 17 The position of the arcuate rack 963 as shown is the second position.

[0096] As Figure 18 , Figure 8 and Figure 17 As shown, the linear rack 961 drives the arcuate rack 963 to rotate reciprocatingly through the gear set 962, in response to the linear rack 961 moving proximally, the arcuate rack 963 rotates in a first direction, the arcuate rack 963 drives the suture needle 951 to rotate, in response to the linear rack 961 moving distally, the arcuate rack 963 rotates in a second direction, the suture needle 951 remains in position, the first direction is opposite to the second direction. For example, as Figure 18 , Figure 8 and Figure 18 As shown, the first direction is clockwise, and the second direction is counterclockwise.

[0097] The linear rack 961 reciprocates between an initial position and a terminal position. Figure 17 andFigure 17 The position of the straight rack 961 shown is the initial position, Figure 18 The position of the straight rack 961 shown is the terminal position.

[0098] The driving motion of the needle driving member refers to the movement of the arc-shaped rack 963 from the second position to the first position, for example, the movement of the arc-shaped rack 963 from the second position shown to the first position shown. Figure 17 The second position shown to the first position shown. The straight rack 961 moves from the terminal position shown to the initial position shown, and then the arc-shaped rack 963 moves from the second position shown to the first position shown, and the driving suture needle 951 rotates clockwise, for example, the driving suture needle 951 rotates clockwise by 90°. Figure 18 Figure 18 The driving motion of the needle driving member refers to the movement of the arc-shaped rack 963 from the second position to the first position, for example, the movement of the arc-shaped rack 963 from the second position shown to the first position shown. Figures 3-9 The second position shown to the first position shown. The straight rack 961 moves from the terminal position shown to the initial position shown, and then the arc-shaped rack 963 moves from the second position shown to the first position shown, and the driving suture needle 951 rotates clockwise, for example, the driving suture needle 951 rotates clockwise by 90°. Figure 4 Figure 5 The driving motion of the needle driving member refers to the movement of the arc-shaped rack 963 from the second position to the first position, for example, the movement of the arc-shaped rack 963 from the second position shown to the first position shown. The second position shown to the first position shown. The straight rack 961 moves from the terminal position shown to the initial position shown, and then the arc-shaped rack 963 moves from the second position shown to the first position shown, and the driving suture needle 951 rotates clockwise, for example, the driving suture needle 951 rotates clockwise by 90°.

[0099] Figure 9 The driving motion of the needle driving member refers to the movement of the arc-shaped rack 963 from the second position to the first position, for example, the movement of the arc-shaped rack 963 from the second position shown to the first position shown.

[0100] The initial position and the terminal position of the straight rack 961 are described to distinguish two different positions, which can be interchangeable or described in other ways.

[0101] For example, as shown in Figure 16 The suture mechanism 900 further comprises a cover structure 920 (for example, the suture body 990 further comprises a cover structure 920), which is located on one side of the base 910. The base 910 and the cover structure 920 cooperate to form a containing space to accommodate the suture assembly 950 and the suture transmission assembly 960.

[0102] For example, as shown in Figure 2 and Figure 15 ​​As shown, the cover structure 920 is disposed on the side of the suture structure away from the base body 911 along the thickness direction X and is configured to cover the base body 911 to define a containing space SP with the base body 911, wherein the suture structure is located in the containing space SP, and the containing space SP includes the suture transmission containing groove 980. The cover structure 920 includes a second driving element containing groove G12 and a second driven element containing groove G22, and the first driving element containing groove G11 and the second driving element containing groove G12 collectively contain the driving element (for example, the straight rack 961), and the first driven element containing groove G21 and the second driven element containing groove G22 collectively contain the driven element (for example, the gear set 962). In the embodiment of the present disclosure, by allowing the first driving element containing groove G11 and the second driving element containing groove G12 to collectively contain the straight rack 961, that is, part of the straight rack 961 is located in the first driving element containing groove G11 and the other part is located in the second driving element containing groove G12, the thickness of the base and the cover structure in the thickness direction Z can be reduced respectively while ensuring the normal movement of the straight rack 961. Similarly, by allowing the first driven element containing groove G21 and the second driven element containing groove G22 to collectively contain the gear set 962, that is, part of the gear set 962 is located in the first driven element containing groove G21 and the other part is located in the second driven element containing groove G22, the thickness of the base and the cover structure in the thickness direction Z can be reduced respectively while ensuring the normal movement of the gear set 962.

[0103] For example, the base body 911 is configured to be fixedly connected to the cover structure 920, and the fixed connection includes one of welding, screw connection and buckle connection.

[0104] For example, as shown in FIG. 9A, Figure 16 As shown, the base 910 has a gear containing portion 9103, that is, the first driven element containing groove G21 is the gear containing portion 9103, and the cover structure 920 has a gear containing portion 9203, that is, the second driven element containing groove G22 is the gear containing portion 9203, and the gear containing portion 9103 and the gear containing portion 9203 collectively contain the gear set 962 to reduce the size of the suture mechanism 900.

[0105] For example, as shown in FIG. 9A, Figure 10 As shown, the suture mechanism 900 further includes a mounting element 964, and the suture transmission assembly 960 is located in the containing space formed by the base 910 and the cover structure 920, and the arc-shaped rack 963 is disposed on the cover structure 920 through the mounting element 964. The arc-shaped rack 963 is rotatably mounted on the cover structure 920 through the mounting element 964, so that the arc-shaped rack 963 is rotatably contained in the above-mentioned containing space. The mounting element 964 can be fixed on the cover structure 920 by interference fit. As shown in FIG. 9A, Figure 10 、 Figure 15 and Figure 15As shown, the arc-shaped rack 963 is arranged on the unlocking cover 921 of the cover structure 920 through a mounting member 964. The mounting member 964 and the cover structure 920 enclose a fitting groove G0, and the mounting member 964 and the cover structure 920 are detachably connected.

[0106] For example, as shown in FIG. 9A, the arc-shaped rack 963 is arranged on the unlocking cover 921 of the cover structure 920 through a mounting member 964. Figure 10 As shown, the teeth on the arc-shaped rack 963 are arranged on the outer side of the arc-shaped rack 963. For example, the arc-shaped rack 963 has a limiting protrusion 9633. For example, the limiting protrusion 9633 is arranged on the inner side of the arc-shaped rack 963. The limiting protrusion 9633 is arranged to facilitate limiting the arc-shaped rack 963 during movement of the arc-shaped rack 963.

[0107] As shown in FIG. 9A, the arc-shaped rack 963 is arranged on the unlocking cover 921 of the cover structure 920 through a mounting member 964. Figure 15 As shown, the central angle of the arc-shaped rack 963 is greater than 90° and less than or equal to 144°. For example, the central angle of the arc-shaped rack 963 is 144°.

[0108] For example, as shown in FIG. 9A, the arc-shaped rack 963 is arranged on the unlocking cover 921 of the cover structure 920 through a mounting member 964. Figure 9 As shown, a fitting groove G0 is formed between the mounting member 964 and the cover structure 920, and the fitting groove G0 is configured to accommodate the limiting protrusion 9633. As shown in FIG. 9A, the fitting groove G0 is formed between the mounting member 964 and the cover structure 920. Figure 9 As shown, a fitting groove G0 is formed between the mounting member 964 and the cover structure 920. The limiting protrusion 9633 is limited within the fitting groove G0 and can slide in the fitting groove G0. That is, the limiting protrusion 9633 is movably arranged within the fitting groove G0. The fitting groove G0 defines a movement space of the arc-shaped rack 963, and the arc-shaped rack 963 can move between two ends of the fitting groove G0. The fitting groove G0 limits the deflection of the arc-shaped rack 963, as well as the movement direction and distance of the arc-shaped rack 963. The fitting groove G0 limits the movement of the arc-shaped rack 963 in a direction perpendicular to the movement plane of the arc-shaped rack 963.

[0109] For example, as shown in FIG. 9A, the arc-shaped rack 963 is arranged on the unlocking cover 921 of the cover structure 920 through a mounting member 964. Figure 9 and Figure 9 As shown, the size of the limiting protrusion 9633 in the movement direction of the arc-shaped rack 963 is less than the size of the fitting groove G0 in the movement direction of the arc-shaped rack 963, facilitating the movement of the arc-shaped rack 963 between the first position and the second position. In the movement direction of the arc-shaped rack 963, the size of the arc-shaped rack 963 is greater than the size of the limiting protrusion 9633.

[0110] For example, the linear rack 961 includes a toothed portion, one of the linear rack 961 and the base body 911 includes a guide portion provided with the toothed portion, and the other includes a guide groove configured to accommodate the guide portion, and the guide portion is configured to be movable in the guide groove. For example, as shown in FIG. 8A, the linear rack 961 includes a toothed portion, and the base body 911 includes a guide portion provided with the toothed portion. Figures 7-9As shown, the linear rack 961 includes a guiding portion 9611 and a toothed portion 9612 connected to the guiding portion 9611, and the base 910 has a base body 911 provided with a guiding groove 912 for accommodating the guiding portion 9611, the guiding groove 912 being configured to guide the guiding portion 9611 to move along the extension direction of the guiding groove 912, thereby driving the toothed portion 9612 to move in the same direction. The guiding portion 9611 is provided to play a guiding role during the movement of the linear rack 961, which is conducive to improving the stability of the movement. For example, the first driving member accommodating groove G11 is the guiding groove 912.

[0111] For example, as shown in Figure 7 The guiding groove 912 is matched with the guiding portion 9611, which can guide the movement direction of the linear rack 961 and limit the movement distance of the linear rack 961.

[0112] For example, as shown in Figure 9 The gear set 962 includes a driving gear 9620, and the toothed portion 9612 cooperates with the driving gear 9620 in the gear set 962 to drive the driving gear 9620 to rotate when the toothed portion 9612 moves along the extension direction of the guiding groove 912. A gear shaft 9624 is provided on the base 910. The driving gear 9620 is arranged on the gear shaft 9624 and can rotate around the gear shaft 9624.

[0113] For example, as shown in Figure 7 The gear set 962 further includes a transmission gear 9622 arranged between the driving gear 9620 and the arc-shaped rack 963 and configured to be in mesh with the driving gear 9620 and the arc-shaped rack 963, respectively, so that the rotation of the driving gear 9620 drives the transmission gear 9622 to rotate, thereby driving the arc-shaped rack 963 to rotate. The transmission gear 9622 is arranged to facilitate adjustment of the movement direction of the arc-shaped rack 963. The axial direction Z of the suturing mechanism 900 is the extension direction of the central axis of the suturing mechanism 900, which can be a direction from the proximal end to the distal end or a direction from the distal end to the proximal end.

[0114] For example, as shown in Figure 9 The transmission gear 9622 includes a first transmission gear GR1 and a second transmission gear GR2 arranged between the driving gear 9620 and the arc-shaped rack 963, the first transmission gear GR1 being close to the driving gear 9620, and the second transmission gear GR2 being close to the arc-shaped rack 963; the first transmission gear GR1 is in mesh with the driving gear 9620 and the second transmission gear GR2, respectively, so that the rotation of the driving gear 9620 drives the first transmission gear GR1 to rotate, thereby driving the second transmission gear GR2 to rotate; the second transmission gear GR2 is in mesh with the arc-shaped rack 963, so that the rotation of the first transmission gear GR1 drives the second transmission gear GR2 to rotate, thereby driving the arc-shaped rack 963 to rotate.Figures 7-9 And Figure 9 As shown in Figure 9 And Figure 9 As shown in

[0115] For example, as shown in Figure 29 The rotation center of the driving gear 9620, the rotation center of the first transmission gear GR1 and the rotation center of the second transmission gear GR2 are in the same straight line, which is beneficial to improve the stability of the transmission.

[0116] For example, as shown in Figure 9 The base body 911 has a needle accommodating groove 917 for accommodating the suture needle 951.

[0117] For example, as shown in Figure 9 The base body 911 is further provided with a first driving member accommodating groove G31, and the cover structure 920 is further provided with a second driving member accommodating groove G32. The first driving member accommodating groove G31 and the second driving member accommodating groove G32 jointly accommodate the driving member, that is, jointly accommodate the arc-shaped rack 963. In this way, part of the arc-shaped rack 963 is located in the first driving member accommodating groove G31, and the other part is located in the second driving member accommodating groove G32, so as to respectively reduce the thickness of the base and the cover structure in the thickness direction Z while ensuring the normal movement of the arc-shaped rack 963.

[0118] For example, as shown in Figure 9 And Figure 6As shown, the base 910 has an arc-shaped rack receiving groove 915, that is, the first drive member receiving groove G31 is an arc-shaped rack receiving groove 915, and the cover structure 920 has an arc-shaped rack receiving groove 925, that is, the second drive member receiving groove G32 is a gear receiving part 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate the arc-shaped rack 963. The arc-shaped rack 963 is movably fixedly connected to the cover structure 920. After the base 910 and the cover structure 920 are fastened together, a part of the arc-shaped rack 963 enters the arc-shaped rack receiving groove 915. During installation, the suture needle 951 is placed in the needle receiving groove 917, and then the base 910 and the cover structure 920 are fastened together. The arc-shaped rack 963 presses against the suture needle 951 so that the suture needle 951 is located between the groove wall of the needle receiving groove 917 and the arc-shaped rack 963. That is, one side of the suture needle 951 is the groove wall of the needle receiving groove 917, and the other side is the arc-shaped toothed rack 963, so as to prevent the suture needle 951 from shaking. Here, the "groove wall" is the bottom surface of the needle receiving groove 917. By positioning the suture needle 951 between the bottom surface of the needle receiving groove 917 and the arc-shaped toothed rack 963 and being held in place by the arc-shaped toothed rack 963, the stability of the suture needle 951 can be improved.

[0119] For example, such as Figure 9 As shown, a portion of the arc-shaped rack 963 is housed in the arc-shaped rack receiving groove 925 of the cover structure 920, and another portion is housed in the arc-shaped rack receiving groove 915 of the base 910. The groove formed by the arc-shaped rack receiving groove 925 and the arc-shaped rack receiving groove 915 is annular, which restricts the suture needle 951 and the arc-shaped rack 963 to move only in the circumferential direction.

[0120] During assembly, first place the arc-shaped rack 963 into the arc-shaped rack receiving groove 925 of the cover structure 920, and then install the mounting part 964 onto the cover structure 920. Place the gear set 962, the linear rack 961, and the sewing needle 951 into the corresponding grooves of the base, and then fasten and lock the base 910 and the cover structure 920 together.

[0121] For example, such as Figure 6 As shown, the base 910 has a retaining member receiving groove 916 for receiving a retaining member 952.

[0122] like Figure 23A As shown, the base 910 has two anti-retraction member receiving grooves 916, and an anti-retraction member 952 is provided in each anti-retraction member receiving groove 916, which is beneficial to realize the anti-retraction of the suture needle 951 at each stage of the suturing process.

[0123] For example, cover structure 920 includes cover body 923 and cover portion, the cover portion including slider 922 and unlock cover 921. Figure 23B and Figure 24 The cover body 923 is shown.Figure 19 The slider 922 and the unlocking cover 921 are shown. The unlocking cover 921 is rotatably mounted on the cover body 923. The slider 922 and the unlocking cover 921 are connected in a mating manner.

[0124] For example, such as Figure 19 and Figure 20 As shown, the slider 922 is slidably connected to the cover body 923. The cover also includes a sliding engagement structure, which is disposed between the cover body 923 and the slider 922 to maintain the relative positions of the cover body 923 and the slider 922 in the thickness direction X of the cover body 923. For example, the sliding engagement structure includes a first engaging member 311 and a second engaging member 312. The first engaging member 311 is disposed on the slider 922, and the second engaging member 312 is disposed on the cover body 923. The second engaging member 312 and the first engaging member 311 engage with each other. For example, the sliding engagement structure also includes a first engaging member 321 and a second engaging member 322. The first engaging member 321 is disposed on the slider 922, and the second engaging member 322 is disposed on the cover body 923. The second engaging member 322 and the first engaging member 321 engage with each other.

[0125] For example, such as Figure 20 As shown, the cover body 923 also includes a protrusion 331, and the slider 922 is provided with a groove 332. The protrusion 331 is configured to be embedded in the groove 332 to maintain the relative position of the slider 922 and the cover body 923 in the axial direction Z, and to prevent the slider 922 and the cover body 923 from being loosened in the axial direction.

[0126] For example, the suture body 990 extends along the axial direction Z, and has a length along the axial direction Z and a width in the thickness direction X perpendicular to the axial direction Z. The length is 20-60 mm, and the width is 10-25 mm, so that the overall size of the suture body 990 is small, thereby allowing the suture mechanism 900 to pass smoothly through the esophagus and avoiding damage to the patient's esophagus. By setting the above length, the overall length of the suture body is also small, which reduces the restriction on the movement of the probe tip and makes the overall movement of the probe tip and the suture mechanism 900 more flexible.

[0127] For example, the cover body 923 and the base body 911 extend generally parallel to each other. The cover body 923 includes a third side S3 and a fourth side S4 that are opposite to each other in its thickness direction X. The third side S3 faces the base body 911, and the fourth side S4 faces away from the base body 911. A cover portion is disposed on the fourth side S4 of the cover body 923 and is configured to cover the cover body 923 to define a gripper receiving space SQ between the cover body 923 and the cover portion. By providing the gripper receiving space SQ, it is advantageous to accommodate gripping components to achieve an auxiliary sewing function.

[0128] Figure 8A schematic view of a suture transmission assembly in a suture mechanism according to another embodiment of the present disclosure is provided. For example, as shown in Figure 20 The rotation center of the driving gear 9620, the rotation center of the first transmission gear GR1, and the rotation center of the second transmission gear GR2 are not on the same straight line, which facilitates reducing the size of the suture mechanism 900 in its axial direction.

[0129] Figure 20 A schematic view of a suture transmission assembly in a suture mechanism according to another embodiment of the present disclosure is provided. For example, as shown in Figures 7-9 The gear set 962 further includes a transmission gear 9622, which is coaxially arranged with the driving gear 9620, and the transmission gear 9622 and the arc-shaped rack 963 are engaged with each other, so that the rotation of the driving gear 9620 drives the rotation of the transmission gear 9622, and in turn drives the rotation of the arc-shaped rack 963.

[0130] The transmission gear 9622 is a speed change gear coaxially arranged with the driving gear 9620, and the modulus of the speed change gear is greater than the modulus of the driving gear 9620, so as to improve the driving ratio of the linear rack 961 driving the arc-shaped rack 963. Figure 19 The suture mechanism shown in Figure 20 Compared with the suture mechanism shown in Figure 6 The movement distance of the linear rack 961 shown in

[0131] Since the suture mechanism 900 is fixedly connected to the front end of the probe tube head 930, the smaller the length of the suture mechanism 900, the smaller the movement restriction of the probe tube head 930 (e.g., a gastroscope) is.

[0132] For example, as shown in Figure 8 , and Figure 19 The gear set 962 and the arc-shaped rack 963 rotate in the same plane.

[0133] For example, as shown in Figure 20 The gear set 962 and the arc-shaped rack 963 rotate in planes parallel to each other.

[0134] For example, the suture mechanism 900 further includes an auxiliary suture structure, which includes a grasping component arranged in a grasping device accommodating space SQ between the cover body 923 and the cover portion and configured to move in a direction parallel to the axial direction Z to perform a grasping operation, the axial direction Z being parallel to the extension direction of the probe tube head 930. For example, the grasping component includes the spiral grasping device 200 mentioned below.

[0135] As shown in Figure 6 ,Figure 25 , Figure 2 , Figure 5 As shown, the suturing mechanism 900 also includes a spiral gripper 200. The spiral gripper 200 can be used to grip tissue to an opening at the front end of the suturing mechanism 900 so that the suture needle 951 can suture the tissue.

[0136] like Figure 6 and Figure 22 As shown, the cover body 923 also includes a first gripper receiving groove G41, and the cover portion includes a second gripper receiving groove G42. The first gripper receiving groove G41 and the second gripper receiving groove G42 together accommodate the spiral gripper 200. In this embodiment of the present disclosure, by having the first gripper receiving groove G41 and the second gripper receiving groove G42 jointly accommodate the spiral gripper 200, that is, a part of the spiral gripper 200 is located in the first gripper receiving groove G41 and another part is located in the second gripper receiving groove G42, the internal capacity of the cover structure can be improved without affecting the normal movement of the spiral gripper 200.

[0137] like Figure 8 , Figures 7-9 , Figure 26 , Figures 1-26 As shown, the probe tip 930 is positioned along a third axis A3 parallel to the Z-axis. The spiral gripper 200 is positioned along a fourth axis A4 parallel to the Z-axis. The receiving portion 940 is positioned along a first axis A1 parallel to or coaxial with the third axis A3. The cover structure 920 has a gripping channel 300 configured to receive the spiral gripper 200, the gripping channel 300 being positioned along a second axis A2 parallel to or coaxial with the fourth axis A4 of the spiral gripper 200. By providing the gripping channel 300, an independent movement space is provided for the gripping component, thereby allowing the gripping component to grasp the tissue before the suture needle performs the suturing operation. Figure 26 As shown, the suture needle 951 is a circular suture needle that rotates around a rotation center O. The first axis A1 and the second axis A2 are set to be coplanar, and the rotation center O of the suture needle 951 lies within this coplanar plane. By making the rotation center O of the circular suture needle, the first axis A1 of the receiving portion 940, and the second axis A2 of the gripping channel 300 coplanar, the gripping and suturing effect can be improved. In at least some embodiments of this disclosure, the first axis A1 is the central axis of the receiving portion 940, the second axis A2 is the central axis of the gripping channel 300, the third axis A3 is the central axis of the probe head 930, and the fourth axis A4 is the central axis of the spiral gripper 200.

[0138] Figure 26A helical gripping drive tube 9702 is shown. The helical gripping drive tube 9702 is connected to the helical gripper 200 and transmits power to drive the helical gripper 200. The helical gripping drive tube 9702 includes a drive flexible shaft comprising steel wire, which can be driven manually or electrically.

[0139] Figure 26 An exploded view of a suturing mechanism provided for an embodiment of this disclosure. (As shown) Figure 26 As shown, embodiments of this disclosure also provide a suturing mechanism 900 configured to assemble a probe tip 930 and including a suturing body 990. The suturing body 990 includes a base 910, an auxiliary suturing structure, and a suturing structure. The base 910 includes a base body 911 extending generally along a plane P and having a thickness direction X perpendicular to the plane P. The base body 911 includes a first side S1 and a second side S2 opposite to each other in its thickness direction X. The probe tip 930 is assembled on the first side S1 of the base body 911 and disposed along a third axis A3 parallel to the axial direction Z, which is parallel to the extension direction of the probe tip 930. The auxiliary suturing structure is disposed on the second side S2 of the base body 911 and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping member configured along a fourth axis A4 parallel to the axial direction Z. For example, the gripping member includes a spiral gripper 200. A suture structure is disposed along the thickness direction X between the probe head 930 and the auxiliary suture structure and is configured to perform a suture operation. The suture structure includes a circular suture needle (e.g., suture needle 951) that rotates about a rotation center O in a plane perpendicular to the thickness direction X. For example, the circular suture needle rotates about the rotation center O in a plane perpendicular to the thickness direction X and parallel to the axial direction Z. The third axis A3 and the fourth axis A4 are configured to be coplanar, and the rotation center O of the suture needle 951 is located in this coplanar plane. In the suture mechanism 900 provided in the above-described embodiment of the present disclosure, by configuring the third axis A3 and the fourth axis A4 to be coplanar and the rotation center O of the suture needle 951 to be located in this coplanar plane, a better gripping and suture effect can be achieved.

[0140] For example, such as Figure 27AAs shown, the rotation center O of the annular suture needle, the center O1 of the probe tip 930 (e.g., the center point on the end face of the probe tip), and the center O2 of the spiral gripper 200 (e.g., the spiral center of the spiral gripper 200) are set to be coplanar, allowing for concentrated gripping, suturing, and observation of the same target area. This improves the accuracy of the suturing mechanism 900 in gripping, suturing, and observation while ensuring good gripping and suturing effects. Furthermore, the center O2 of the spiral gripper 200 and the rotation center O of the annular suture needle are approximately at the same height, which better facilitates tissue gripping. This is because if the center O2 of the spiral gripper 200 is higher or lower than the rotation center O, the spiral gripper 200 may interact with the protrusions on the upper and lower sides of the cap structure (…). Figure 27B The tissue (circled area) is squeezed together, making effective grasping impossible.

[0141] For example, the base 910 also includes a receiving portion 940 disposed on the first side S1 of the base body 911. The receiving portion 940 is configured to receive the probe head 930 and is disposed along a first axis A1 parallel to or coaxial with the third axis A3 of the probe head 930. Figure 27A (The two structures are coaxially arranged). The sewing mechanism 900 also includes a cover structure 920, which is disposed along the thickness direction X on the side of the sewing structure away from the base body 911. The cover structure 920 has a gripping channel 300 configured to accommodate a gripping member. The gripping channel 300 has a second axis A2 that is parallel to or coaxial with the fourth axis A4 of the gripping member. Figure 27A (The axes are set to be coaxial). The first axis A1 and the second axis A2 are set to be coplanar, and the rotation center O of the suture needle 951 is located within this coplanar plane. This setting further ensures a better grasping and suturing effect.

[0142] Figure 27B This is a schematic diagram of a suturing mechanism provided for an embodiment of the present disclosure. Figure 27A for Figures 1-9 An exploded view of the suture mechanism. (See diagram below.) Figure 27B and Figure 27B As shown, the width wd1 of the cover structure 920 along the thickness direction X is 4.2–7.8 mm. This reduces the overall thickness of the suture body 990 in the thickness direction X. For example, at least a portion of the suture body 990 has an arcuate outer surface 340, which includes a portion of the outer surface 341 of the cover structure 920 and a portion of the outer surface 342 of the base 910. The cross-section of this arcuate outer surface perpendicular to the axial direction Z (i.e., in the plane shown in FIG. 27) is an outer arc. That is, the cross-sectional shape of the arcuate outer surface is arcuate. With the above arrangement, it is possible to prevent the suture mechanism from scratching the tissue during movement, making its movement smoother. Further, the diameter of the outer arc ( Figure 28The width WD of the suture body is equal to the radius R of the suture needle.

[0143] With reference to Figure 27A For example, the suture structure further comprises a suture transmission assembly 960, the suture transmission assembly 960 comprising a driving member, a driven member and a driving member, the driving member being connected to the driven member, the driven member being connected to the driving member, the driving member being connected to the annular suture needle, the driving member being configured to drive the annular suture needle to move through the driven member and the driving member. For example, the driving member comprises a straight rack 961, the driven member comprises a gear set 962, and the straight rack 961 is connected to the gear set 962. Through the movement of the straight rack 961, the rotation of the gear set 962 can be driven. The driving member comprises an arc-shaped rack 963, and the gear set 962 is connected to the arc-shaped rack 963. The straight rack 961 drives the suture assembly 950 to move through the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the driving assembly 950 during the execution of the suture operation.

[0144] For example, the base body 911 is provided with a first driven member accommodating groove G21, and the cover structure 920 is provided with a second driven member accommodating groove G22, and the first driven member accommodating groove G21 and the second driven member accommodating groove G22 together accommodate the driven member; the total depth of the first driven member accommodating groove G21 and the second driven member accommodating groove G22 is greater than or equal to the width of the driven member in the thickness direction X. For example, the first driven member accommodating groove G21 is a gear accommodating portion 9103, and the second driven member accommodating groove G22 is a gear accommodating portion 9203, and the gear accommodating portion 9103 and the gear accommodating portion 9203 together accommodate the gear set 962, so as to reduce the size of the suture mechanism 900 in the thickness direction X. The total depth of the gear accommodating portion 9103 and the gear accommodating portion 9203 (i.e. the sum of the depths of the gear accommodating portion 9103 and the gear accommodating portion 9203) is greater than or equal to the width of the gear set 962 in the thickness direction X, so as to ensure that the gear set 962 is completely covered by the two accommodating grooves without being exposed. Further, for example, the depth of the gear accommodating portion 9103 is 0.35-1mm, the depth of the gear accommodating portion 9203 is 0.35-1mm, and the width of the driven member in the thickness direction X is 0.7-1.5mm. In the embodiments of the present disclosure, the gear accommodating portion 9103 and the gear accommodating portion 9203 are taken as an example with the same depth, and it can be understood that the depths of the two can be different in other embodiments of the present disclosure, and the present disclosure does not limit this.

[0145] For example, the driving member includes a straight rack 961, the straight rack 961 includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611, the base body 911 is provided with a first driving member accommodating groove G11, the depth of the first driving member accommodating groove G11 is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving member accommodating groove G11 is a guide groove 912, the depth of the guide groove 912 is greater than or equal to the width of the guide portion 9611 in the thickness direction X. In this way, the guide portion 9611 can be completely accommodated in the guide groove 912, and the guide portion 9611 is prevented from being pulled out. Further, for example, the depth of the guide groove 912 is 1.05-1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05-1.95 mm.

[0146] For example, the base body 911 is provided with a first driving member accommodating groove G31, the cover structure 920 is provided with a second driving member accommodating groove G32, the first driving member accommodating groove G31 and the second driving member accommodating groove G32 together accommodate the driving member; the total depth of the first driving member accommodating groove G31 and the second driving member accommodating groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member accommodating groove G31 is an arc-shaped rack accommodating groove 915, the second driving member accommodating groove G32 is a gear accommodating portion 925, the arc-shaped rack accommodating groove 915 and the arc-shaped rack accommodating groove 925 together accommodate the arc-shaped rack 963; the total depth of the arc-shaped rack accommodating groove 915 and the arc-shaped rack accommodating groove 925 (i.e. the sum of the depths of the arc-shaped rack accommodating groove 915 and the arc-shaped rack accommodating groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (as shown in FIG. 9B), so as to ensure that the gear set 962 is completely accommodated by the two accommodating grooves and is not exposed externally. Further, for example, the depth of the arc-shaped rack accommodating groove 915 is 0.3-0.8 mm, the depth of the arc-shaped rack accommodating groove 925 is 1.1-1.8 mm, and the width wd2 of the arc-shaped rack 963 in the thickness direction X is 1.4-2.6 mm. Figure 27B

[0147] For example, the driving member includes a straight rack 961, the driven member includes a gear set 962, and the driving member includes an arc-shaped rack 963, the arc-shaped rack 963 is engaged with the gear set 962, and the gear set 962 is engaged with the straight rack 961. Since the gear transmission has high precision and large transmission torque, it can stably transmit when the transmission torque is large, which is beneficial to the suturing operation of the suturing structure and improves the stability of the suturing operation.

[0148] ​For example, in the thickness direction X, the distance from the rotation center O of the circular suture needle to the third axis A3 of the probe tube head 930 is shorter than the distance from the fourth axis A4 of the spiral grabber 200 to the third axis A3 of the probe tube head 930. Compared with the spiral grabber 200, the circular suture needle is closer to the probe tube head 930, which is conducive to the probe tube head 930 observing the suture effect of the circular suture needle more accurately. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8-5.2 mm, which can enable the probe tube to better observe the suture of the tissue by the suture needle. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45-4.55 mm, which can enable the tissue grabbed by the spiral grabber 200 to be closer to the suture needle 951, and the suture needle 951 can more easily suture the grabbed tissue (if the suture needle 951 is far away from the grabbed tissue, the needle can only penetrate the surface of the tissue and cannot achieve suture). For example, the width wd3 of the circular suture needle in the thickness direction X (as shown in Figure 28 ) is 0.7-1.3 mm. Through the above arrangement, the overall size of the suture mechanism 900 in the thickness direction X can be further reduced.

[0149] Figures 1-28 A schematic view of a suture body of a suture mechanism provided for an embodiment of the present disclosure. For example, as shown in Figure 27A , Figure 27B and Figure 27B , the length L of the suture body 990 is 20-60 mm, and the width WD of the suture body 990 is 10-25 mm. In this way, the overall size of the suture body 990 can meet the requirements of a gastroscope surgery, for example, enabling the suture mechanism 900 to smoothly pass through the esophagus and avoid causing harm to the esophagus of the patient. Through the above arrangement of the length, the overall length of the suture body is also small, which limits the movement of the probe tube head less and makes the overall movement of the probe tube head and the suture mechanism 900 more flexible. For example, the length L of the suture body 990 is the maximum length of the base body 911 in the axial direction Z, and the width WD of the suture body 990 is the maximum width of the suture body 990 along the thickness direction X when the probe tube head 930 is assembled. Through the above size design, the miniaturization design requirement of the suture mechanism can be achieved. Further, for example, the width wd4 of the base 910 along the thickness direction X is 7.7-14.3 mm, and when the width of the base 910 is narrowed, the overall size of the main body including the probe tube head can be increased, thereby further ensuring that the overall size of the suture body 990 is smaller.

[0150] As shown in Figures 1-28As shown, the embodiment of the present disclosure also provides a suturing mechanism 900 configured to assemble a probe tube head 930 and comprising a suturing body 990, the suturing body 990 comprising a base 910, an auxiliary suturing structure and a suturing structure. The base 910 comprises a base body 911 extending substantially along a plane P and having a thickness direction X perpendicular to the plane P, the base body 911 comprising a first side S1 and a second side S2 opposite to each other in the thickness direction X of the base body 911, and the probe tube head 930 is assembled at the first side S1 of the base body 911. The auxiliary suturing structure is arranged at the second side S2 of the base body 911 and is configured to perform an auxiliary suturing operation. The suturing structure is arranged between the probe tube head 930 and the auxiliary suturing structure along the thickness direction X and is configured to perform a suturing operation, the suturing structure comprising a suturing assembly 950 and a suturing transmission assembly 960 driving the suturing assembly 950. For example, the auxiliary suturing structure comprises a grabbing component, and the grabbing component comprises a spiral grabber 200.

[0151] In the suturing mechanism 900 provided by the above-mentioned embodiment of the present disclosure, since the suturing structure comprises a suturing assembly and a suturing transmission assembly, the size of the suturing structure in the thickness direction X is large, and by arranging the suturing structure with large thickness between the base and the auxiliary suturing structure, the width of the suturing mechanism 900 in the thickness direction X can be ensured to be small.

[0152] For example, the length L of the suturing body 990 is 20-60 mm, and the width WD of the suturing body 990 is 10-25 mm. In this way, the overall size of the suturing body 990 can meet the requirements of a gastroscope operation, for example, the suturing mechanism 900 can smoothly pass through the esophagus, and damage to the esophagus of the patient can be avoided. By setting the above-mentioned length, the overall length of the suturing body is also small, which limits the movement of the probe tube head less, and the overall movement of the probe tube head and the suturing mechanism 900 is more flexible. For example, the length L of the suturing body 990 is the maximum length of the base body 911 along the axial direction Z, and the width WD of the suturing body 990 is the maximum width of the suturing body 990 along the thickness direction X with the probe tube head 930 assembled. By the above-mentioned size design, the miniaturization design requirement of the suturing mechanism can be realized. Further, for example, the width wd4 of the base 910 along the thickness direction X is 7.7-14.3 mm, and when the width of the base 910 is narrowed, the overall size of the main body including the probe tube head can be increased, thereby further ensuring that the overall size of the suturing body 990 is smaller.

[0153] For example, the suture mechanism 900 further comprises a cover structure 920 arranged on the side of the suture structure away from the base body 911 along the thickness direction X, the cover structure 920 has a grabbing passage 300 configured to accommodate the grabbing component. By arranging the grabbing passage 300, an independent movement space can be provided for the grabbing component, so as to allow the grabbing component to realize grabbing of the tissue before the suture needle performs the suturing operation.

[0154] For example, the cover structure 920 has a width wd1 along the thickness direction X of 4.2-7.8 mm. In this way, the overall thickness of the suture body 990 along the thickness direction X can be reduced. For example, at least part of the suture body 990 has an arc-shaped outer surface 340, which includes part of the outer surface 341 of the cover structure 920 and part of the outer surface 342 of the base 910. The arc-shaped outer surface is an outer arc line in the cross section perpendicular to the axial direction Z (i.e. in the plane shown in FIG. 27). That is, the cross-sectional shape of the arc-shaped outer surface is arc-shaped. By the above arrangement, the suture mechanism can be prevented from scratching the tissue when moving in the tissue, so that it moves more smoothly. Further, the diameter (R) of the outer arc line is equal to the width WD of the suture body. Figure 27A

[0155] For example, the suture assembly 950 comprises a suture needle 951, the suture transmission assembly 960 comprises a driving member, a driven member and a driving member, the driving member is connected to the driven member, the driven member is connected to the driving member, the driving member is connected to the suture needle 951, and the driving member is configured to drive the suture needle 951 to move through the driven member and the driving member. For example, the driving member comprises a straight rack 961, the driven member comprises a gear set 962, and the straight rack 961 is connected to the gear set 962. Through the movement of the straight rack 961, the rotation of the gear set 962 can be driven. The driving member comprises an arc-shaped rack 963, the gear set 962 is connected to the arc-shaped rack 963, and the straight rack 961 drives the suture needle 951 to move through the gear set 962 and the arc-shaped rack 963, so as to further ensure the stability of the suture needle 951 during the suturing operation.

[0156] ​For example, the base body 911 is provided with a first driven member accommodating groove G21, the cover structure 920 is provided with a second driven member accommodating groove G22, and the first driven member accommodating groove G21 and the second driven member accommodating groove G22 jointly accommodate the driven member; the total depth of the first driven member accommodating groove G21 and the second driven member accommodating groove G22 is greater than or equal to the width of the driven member in the thickness direction X. For example, the first driven member accommodating groove G21 is the gear accommodating portion 9103, the second driven member accommodating groove G22 is the gear accommodating portion 9203, and the gear accommodating portion 9103 and the gear accommodating portion 9203 jointly accommodate the gear set 962 to reduce the size of the suturing mechanism 900 in the thickness direction X. The total depth of the gear accommodating portion 9103 and the gear accommodating portion 9203 (i.e., the sum of the depths of the gear accommodating portion 9103 and the gear accommodating portion 9203) is greater than or equal to the width of the gear set 962 in the thickness direction X, so as to ensure that the gear set 962 is completely covered by the two accommodating grooves without being exposed. Further, for example, the depth of the gear accommodating portion 9103 is 0.35-1 mm, the depth of the gear accommodating portion 9203 is 0.35-1 mm, and the width of the driven member in the thickness direction X is 0.7-1.5 mm. In the embodiments of the present disclosure, the gear accommodating portion 9103 and the gear accommodating portion 9203 have the same depth as an example, and it can be understood that the depths of the two can be different in other embodiments of the present disclosure, and the present disclosure does not limit this.

[0157] For example, the driving member includes a straight rack 961, the straight rack 961 includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611, the base body 911 is provided with a first driving member accommodating groove G11, and the depth of the first driving member accommodating groove G11 is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving member accommodating groove G11 is a guide groove 912, and the depth of the guide groove 912 is greater than or equal to the width of the guide portion 9611 in the thickness direction X. In this way, the guide portion 9611 can be completely accommodated in the guide groove 912, and the guide portion 9611 is prevented from coming out. Further, for example, the depth of the guide groove 912 is 1.05-1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05-1.95 mm.

[0158] For example, the base body 911 is provided with a first driving member receiving groove G31, and the cover structure 920 is provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 together accommodate the driving member; the total depth of the first driving member receiving groove G31 and the second driving member receiving groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member receiving groove G31 is an arc-shaped rack receiving groove 915, and the second driving member receiving groove G32 is an arc-shaped rack receiving groove 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate an arc-shaped rack 963; the total depth of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 (i.e., the sum of the depths of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (e.g., ...). Figure 27B (As shown), to ensure that the gear set 962 is completely contained within the two receiving grooves and is not exposed. Further, for example, the depth of the arc-shaped rack receiving groove 915 is 0.3 to 0.8 mm, the depth of the arc-shaped rack receiving groove 925 is 1.1 to 1.8 mm, and the width wd2 of the arc-shaped rack 963 along the thickness direction X is 1.4 to 2.6 mm.

[0159] For example, the driving component includes a linear rack 961, the driven component includes a gear set 962, and the driving component includes an arc-shaped rack 963. The arc-shaped rack 963 meshes with the gear set 962, and the gear set 962 meshes with the linear rack 961. Due to the high precision of the gear transmission, it can stably transmit large transmission torques, which is beneficial for the sewing operation of the sewing structure and improves the stability of the sewing operation.

[0160] For example, in the thickness direction X, the suturing assembly 950 includes a ring-shaped suturing needle that rotates around the rotation center O; the probe tube head 930 is arranged along a third axis A3 that is parallel to the axial direction Z; the auxiliary suturing structure is configured to be arranged along a fourth axis A4 that is parallel to the axial direction Z; the distance from the rotation center O to the third axis A3 of the probe tube head 930 is shorter than the distance from the fourth axis A4 of the auxiliary suturing structure to the third axis A3 of the probe tube head 930. Compared with the spiral grabber 200, the ring-shaped suturing needle is closer to the probe tube head 930, which facilitates the probe tube head 930 to more accurately observe the suturing effect of the ring-shaped suturing needle. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8-5.2 mm, which enables the probe tube to better observe the suturing of the tissue by the suturing needle. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45-4.55 mm, which enables the tissue grabbed by the spiral grabber 200 to be closer to the suturing needle 951, and the suturing needle 951 is more likely to suture the grabbed tissue (if the suturing needle 951 is far away from the grabbed tissue, the needle can only penetrate the surface of the tissue and cannot achieve suturing). For example, the width wd3 (as shown in Figure 27B FIG. 6) of the ring-shaped suturing needle in the thickness direction X is 0.7-1.3 mm. Through the above arrangement, the overall size of the suturing mechanism 900 in the thickness direction X can be further reduced. As shown in ​ FIG. 7, the present disclosure also provides a suturing mechanism 900 configured to assemble the probe tube head 930 and including a suturing body 990, which includes a base 910, an auxiliary suturing structure, and a suturing structure. The base 910 includes a base body 911 that extends along a plane P and has a thickness direction X perpendicular to the plane P, the base body 911 includes a first side S1 and a second side S2 opposite to each other in the thickness direction X of the base body 911, and the probe tube head 930 is assembled on the first side S1 of the base body 911. The auxiliary suturing structure is arranged on the second side S2 of the base body 911 and is configured to perform an auxiliary suturing operation. The suturing structure includes a suturing needle 951 arranged between the probe tube head 930 and the auxiliary suturing structure in the thickness direction X and configured to perform a suturing operation.

[0161] In the suturing mechanism 900 provided by the above embodiments of the present disclosure, by arranging the probe tube head 930 on the first side S1 of the base body 911 and arranging the suturing needle 951 and the auxiliary suturing structure on the second side S2, the probe tube head 930 can better observe the suturing effect while meeting the overall size of the suturing mechanism 900.

[0162] For example, the length L of the suture body 990 is 20-60 mm, and the width WD of the suture body 990 is 10-25 mm. In this way, the overall size of the suture body 990 can meet the requirements of a gastroscopy operation, for example, to allow the suture mechanism 900 to pass through the esophagus smoothly and avoid causing damage to the esophagus of the patient. For example, the length L of the suture body 990 is the maximum length of the base body 911 along the axial direction Z, and the width WD of the suture body 990 is the maximum width of the suture body 990 along the thickness direction X with the detection tube head 930 assembled. Through the above size design, the miniaturization requirement of the suture mechanism can be achieved. Further, for example, the width wd4 of the base 910 along the thickness direction X is 7.7-14.3 mm. When the width of the base 910 is narrowed, the overall size of the main body including the detection tube head can be increased, thereby further ensuring that the overall size of the suture body 990 is smaller.

[0163] For example, the suture mechanism 900 further includes a cover structure 920 arranged on the side of the suture structure away from the base body 911 along the thickness direction X, and the auxiliary suture structure includes a grabbing component, and the cover structure 920 has a grabbing channel 300 configured to accommodate the grabbing component. By arranging the grabbing channel 300, the grabbing component can be provided with independent movement space, thereby allowing the grabbing component to achieve grabbing of the tissue before the suture needle performs the suturing operation.

[0164] For example, the width wd1 of the cover structure 920 along the thickness direction X is 4.2-7.8 mm. In this way, the overall thickness of the suture body 990 along the thickness direction X can be reduced. For example, at least part of the suture body 990 has an arc-shaped outer surface 340, which includes part of the outer surface 341 of the cover structure 920 and part of the outer surface 342 of the base 910. The arc-shaped outer surface is an outer arc line in a cross section perpendicular to the axial direction Z (i.e., in the plane shown in FIG. 27). That is, the cross-sectional shape of the arc-shaped outer surface is arc-shaped. Through the above arrangement, the suture mechanism can be prevented from scratching the tissue when moving in the tissue, and the movement thereof can be smoother. Further, the diameter (shown as radius R) of the outer arc line is equal to the width WD of the suture body. ​

[0165] ​For example, the suture assembly 950 comprises a suture needle 951, the suture transmission assembly 960 comprises a driving member, a driven member and a driving member, the driving member is connected to the driven member, the driven member is connected to the driving member, the driving member is connected to the suture needle 951, and the driving member is configured to drive the suture needle 951 to move through the driven member and the driving member. For example, the driving member comprises a straight rack 961, the driven member comprises a gear set 962, and the straight rack 961 is connected to the gear set 962. Through the movement of the straight rack 961, the rotation of the gear set 962 can be driven. The driving member comprises an arc-shaped rack 963, the gear set 962 is connected to the arc-shaped rack 963, and the straight rack 961 drives the suture needle 951 to move through the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the suture needle 951 during the execution of the suturing operation.

[0166] For example, the base body 911 is provided with a first driven member accommodating groove G21, the cover structure 920 is provided with a second driven member accommodating groove G22, and the first driven member accommodating groove G21 and the second driven member accommodating groove G22 jointly accommodate the driven member; the total depth of the first driven member accommodating groove G21 and the second driven member accommodating groove G22 is greater than or equal to the width of the driven member in the thickness direction X. For example, the first driven member accommodating groove G21 is a gear accommodating portion 9103, the second driven member accommodating groove G22 is a gear accommodating portion 9203, and the gear accommodating portion 9103 and the gear accommodating portion 9203 jointly accommodate the gear set 962 to reduce the size of the suture mechanism 900 in the thickness direction X. The total depth of the gear accommodating portion 9103 and the gear accommodating portion 9203 (i.e., the sum of the depths of the gear accommodating portion 9103 and the gear accommodating portion 9203) is greater than or equal to the width of the gear set 962 in the thickness direction X, so as to ensure that the gear set 962 is completely covered by the two accommodating grooves without being exposed. Further, for example, the depth of the gear accommodating portion 9103 is 0.35-1 mm, the depth of the gear accommodating portion 9203 is 0.35-1 mm, and the width of the driven member in the thickness direction X is 0.7-1.5 mm. In the embodiments of the present disclosure, the gear accommodating portion 9103 and the gear accommodating portion 9203 are taken as an example with the same depth, and it can be understood that the depths of the two can be different in other embodiments of the present disclosure, which are not limited in the present disclosure.

[0167] For example, the driving element includes a linear rack 961, which includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611. The base body 911 is provided with a first driving element receiving groove G11, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving element receiving groove G11 can be a guide groove 912, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. This allows the guide portion 9611 to be completely accommodated within the guide groove 912, preventing it from coming out. Further, for example, the depth of the guide groove 912 is 1.05 to 1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05 to 1.95 mm.

[0168] For example, the base body 911 is provided with a first driving member receiving groove G31, and the cover structure 920 is provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 together accommodate the driving member; the total depth of the first driving member receiving groove G31 and the second driving member receiving groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member receiving groove G31 is an arc-shaped rack receiving groove 915, and the second driving member receiving groove G32 is an arc-shaped rack receiving groove 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate an arc-shaped rack 963; the total depth of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 (i.e., the sum of the depths of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (e.g., ...). ​ (As shown), to ensure that the gear set 962 is completely contained within the two receiving grooves and is not exposed. Further, for example, the depth of the arc-shaped rack receiving groove 915 is 0.3 to 0.8 mm, the depth of the arc-shaped rack receiving groove 925 is 1.1 to 1.8 mm, and the width wd2 of the arc-shaped rack 963 along the thickness direction X is 1.4 to 2.6 mm.

[0169] For example, the driving component includes a linear rack 961, the driven component includes a gear set 962, and the driving component includes an arc-shaped rack 963. The arc-shaped rack 963 meshes with the gear set 962, and the gear set 962 meshes with the linear rack 961. Due to the high precision of the gear transmission, it can stably transmit large transmission torques, which is beneficial for the sewing operation of the sewing structure and improves the stability of the sewing operation.

[0170] For example, in the thickness direction X, the suturing assembly 950 comprises a ring-shaped suturing needle rotating around the rotation center O; the probe tube head 930 is arranged along a third axis A3 parallel to the axial direction Z; the auxiliary suturing structure is configured to be arranged along a fourth axis A4 parallel to the axial direction Z; the distance from the rotation center O to the third axis A3 of the probe tube head 930 is shorter than the distance from the fourth axis A4 of the auxiliary suturing structure to the third axis A3 of the probe tube head 930. Compared with the spiral grabber 200, the ring-shaped suturing needle is closer to the probe tube head 930, which is conducive to the probe tube head 930 observing the suturing effect of the ring-shaped suturing needle more accurately. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8-5.2 mm, which can enable the probe tube to better observe the suturing of the tissue by the suturing needle. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45-4.55 mm, which can enable the tissue grabbed by the spiral grabber 200 to be closer to the suturing needle 951, and the suturing needle 951 can more easily suture the grabbed tissue (if the suturing needle 951 is far away from the grabbed tissue, the needle can only penetrate the surface of the tissue and cannot achieve suturing). For example, the width wd3 (as shown in FIG. 10B) of the ring-shaped suturing needle in the thickness direction X is 0.7-1.3 mm. Through the above arrangement, the overall size of the suturing mechanism 900 in the thickness direction X can be further reduced. ​ For example, in some embodiments of the present disclosure, the straight rack 961 can be referred to as a first rack, and the arc-shaped rack 963 can be referred to as a second rack.

[0171] For example, in some embodiments of the present disclosure, the straight rack 961 can be referred to as a first rack, and the arc-shaped rack 963 can be referred to as a second rack.

[0172] The embodiments of the present disclosure also provide a suturing device 9000 comprising any of the above suturing mechanisms 900. Since the suturing device 9000 has the suturing mechanism 900 described in any of the above embodiments, the suturing device 9000 also has the specific configurations and technical effects of the above suturing mechanism 900, which will not be described here again.

[0173] In summary, in the above-mentioned embodiment of the present disclosure, the suturing mechanism is configured to assemble a probe tube head and comprises a suturing body, the suturing body comprising a base, a grasping channel and a suturing structure. The base comprises a base body extending substantially along a plane and having a thickness direction perpendicular to the plane, the base body comprising a first side and a second side opposite to each other in the thickness direction, and the base further comprises a probe tube head accommodating groove arranged at the first side of the base body and configured to accommodate the probe tube head and arranged along a first axis parallel to the axial direction. The grasping channel is arranged at the second side of the base body and configured to accommodate an auxiliary suturing structure, the grasping channel being arranged along a second axis parallel to the axial direction; the auxiliary suturing structure comprises a grasping component configured to grasp tissue to perform an auxiliary suturing operation. The suturing structure is arranged between the probe tube head and the grasping component in the thickness direction and configured to perform a suturing operation, the suturing structure comprising a suturing assembly comprising a ring-shaped suturing needle rotating around a rotation center in a plane perpendicular to the thickness direction. The first axis and the second axis are arranged to be coplanar, and the rotation center of the ring-shaped suturing needle is located in the coplanar plane. The above-mentioned suturing mechanism can better observe the suturing effect of the probe tube head while meeting the requirement of smaller overall size of the suturing mechanism.

[0174] In another embodiment of the above-mentioned present disclosure, the suturing mechanism is configured to assemble a probe tube head and comprises a suturing body, the suturing body comprising a base, an auxiliary suturing structure and a suturing structure. The base comprises a base body extending substantially along a plane and having a thickness direction perpendicular to the plane, the base body comprising a first side and a second side opposite to each other in the thickness direction, and the probe tube head is assembled at the first side of the base body. The auxiliary suturing structure is arranged at the second side of the base body and configured to perform an auxiliary suturing operation, the auxiliary suturing structure comprising a grasping component configured to grasp tissue to perform an auxiliary suturing operation. The suturing structure is arranged between the probe tube head and the auxiliary suturing structure in the thickness direction and configured to perform a suturing operation, the suturing structure comprising a suturing assembly and a suturing transmission assembly driving the suturing assembly. The above-mentioned suturing mechanism can reduce the size of the suturing mechanism in the thickness direction while meeting the suturing requirement.

[0175] In another embodiment of the present disclosure, the suturing mechanism is configured to assemble a probe tube and includes a suturing body, the suturing body including a base, an auxiliary suturing structure, and a suturing structure. The base includes a base body extending substantially along a plane and having a thickness direction perpendicular to the plane, the base body including a first side and a second side opposite to each other in the thickness direction, and the probe tube is assembled at the first side of the base body. The auxiliary suturing structure is disposed at the second side of the base body and is configured to perform an auxiliary suturing operation, the auxiliary suturing structure including a grasping component configured to grasp tissue to perform the auxiliary suturing operation. The suturing structure is disposed between the probe tube and the auxiliary suturing structure in the thickness direction and is configured to perform a suturing operation, the suturing structure including a suturing assembly including a loop-shaped suturing needle. The suturing mechanism can better observe the suturing effect of the probe tube while meeting the overall size of the suturing mechanism.

[0176] In another embodiment of the present disclosure, the suturing mechanism is configured to assemble a probe tube and includes a suturing body, the suturing body including a base, an auxiliary suturing structure, and a suturing structure. The base includes a base body extending substantially along a plane and having a thickness direction perpendicular to the plane, the base body including a first side and a second side opposite to each other in the thickness direction, and the probe tube is assembled at the first side of the base body. The auxiliary suturing structure is disposed at the second side of the base body and is configured to perform an auxiliary suturing operation, the auxiliary suturing structure including a grasping component configured to grasp tissue to perform the auxiliary suturing operation. The suturing structure is disposed between the probe tube and the auxiliary suturing structure in the thickness direction and is configured to perform a suturing operation, the suturing structure including a suturing assembly including a loop-shaped suturing needle. The suturing mechanism can better observe the suturing effect of the probe tube while meeting the overall size of the suturing mechanism.

[0177] In the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0178] The above merely provides the specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present disclosure, which should be covered in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A suturing mechanism configured to assemble a probe tip and including a suturing body, the suturing body comprising: A base, the base including a base body extending generally along a plane and having a thickness direction perpendicular to the plane, the base body including a first side and a second side opposite to each other in its thickness direction; A suture structure is disposed on a second side of the base body and configured to perform a suture operation, the suture structure including a suture assembly and a suture transmission assembly for driving the suture assembly; The base body includes a probe head receiving groove on the first side for assembling the probe head and a suture transmission receiving groove on the second side for accommodating the suture transmission assembly. The probe head receiving groove and the suture transmission receiving groove are arranged opposite to each other in the thickness direction, and the orthographic projection of the probe head receiving groove on the plane and the orthographic projection of the suture transmission receiving groove on the plane overlap each other in the thickness direction.

2. The suturing mechanism according to claim 1, wherein, The suture transmission assembly includes a driving member and a driven member connected to the driving member. The suture assembly includes a suture needle connected to the driven member. The driving member drives the suture needle to rotate through the driven member. The suture transmission receiving groove includes a first driven member receiving groove. The driven member is movably received in the first driven member receiving groove. The probe head receiving groove and the first driven member receiving groove are arranged opposite to each other in the thickness direction.

3. The suturing mechanism according to claim 2, wherein, The suture body also includes: A cover structure is disposed along the thickness direction on the side of the stitching structure away from the base body and is configured to cover the base body and define a receiving space with the base body, wherein the stitching structure is located in the receiving space, and the receiving space includes the stitching drive receiving groove; The cover structure includes a second follower receiving groove, and the first follower receiving groove and the second follower receiving groove together accommodate the follower.

4. The suturing mechanism according to claim 3, wherein, The base body is configured to be fixedly connected to the cover structure.

5. The suturing mechanism according to claim 2, wherein, The suture transmission assembly further includes a driving member, the driving member being connected to the driven member, the driven member being connected to the driving member, and the driving member being connected to the suture needle.

6. The suturing mechanism according to claim 5, wherein, The transmission between any two adjacent components that are connected in a transmission relationship among the driving component, the driven component, and the driving component is a gear transmission.

7. The suturing mechanism according to claim 5 or 6, wherein, The driving component includes a linear rack, the driven component includes a gear set, and the driving component includes an arc-shaped rack; The gear set is rotatably housed in the first driven member receiving slot.

8. The suturing mechanism according to claim 1, wherein, The suture body also includes: An auxiliary suture structure includes a gripping component configured to move in a direction parallel to an axial direction to perform a gripping operation, the axial direction being parallel to the extension direction of the probe tip.

9. The suturing mechanism according to claim 2, wherein, The probe head has a third axis parallel to the axial direction; The probe head receiving groove is arranged along the first axis, which is parallel to or coaxial with the third axis. The cover structure has a grasping channel configured to receive the grasping member, the grasping member being configured to grasp tissue to perform an auxiliary suturing operation, the grasping channel being disposed along a second axis parallel to or coaxial with a fourth axis of the grasping member; The suture needle is a circular suture needle, which rotates around a center of rotation; The first axis and the second axis are set to be coplanar, and the rotation center of the suture needle is located in the coplanar plane.

10. The suturing mechanism according to claim 1, wherein, The suture body extends axially and has a length along the axial direction and a width in the thickness direction perpendicular to the axial direction, the length being 20-60 mm and the width being 10-25 mm.

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