Skin suturing device and robot

Abstract

The invention provides a skin suturing device and a robot, and relates to the technical field of medical instruments.The skin suturing device comprises a shell body, a nail bin, a nail pushing mechanism and a quick changing mechanism; the quick-change mechanism is fixedly mounted on the shell main body, the quick-change mechanism is provided with a containing cavity used for containing the nail bin in a matched mode, and the quick-change mechanism is further provided with a limiting piece; the pluggable part of the nail bin is inserted into the containing cavity, the limiting piece is used for being detachably connected with the nail bin so that the nail bin can be fixed relative to the containing cavity, and the limiting piece can be disengaged from the nail bin under the action of external force so that limiting constraint on the nail bin can be relieved. The nail pushing mechanism is fixedly installed on the shell body, the power output end of the nail pushing mechanism corresponds to a nail outlet of the nail bin, and a plurality of suturing nails are arranged in the nail bin. Compared with the prior art, the skin suturing device has the advantages that the device body can be repeatedly used, only the consumable nail bin needs to be replaced, the medical waste generation amount of each operation is remarkably reduced, and the medical waste treatment pressure is relieved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a skin suturing device and robot. Background Technology

[0002] In surgeries such as general surgery, thoracic surgery, abdominal surgery, and skin grafting in burn surgery, the suturing of skin incisions is a crucial step in postoperative recovery. While traditional manual suturing methods are widely used, they suffer from drawbacks such as complexity, time-consuming procedures, and high dependence on the surgeon's skill, easily leading to inconsistent suturing quality and delayed postoperative recovery. With advancements in medical technology, skin staplers (also known as skin anastomosing devices) have become increasingly common. Their advantages include high suturing efficiency, ease of operation, and fewer postoperative complications, effectively improving surgical outcomes and patient experience.

[0003] However, most mainstream products on the market adopt a single-use, modular design, meaning the entire device must be discarded as medical waste after a single use. This design prevents the reuse of some still functional components, significantly increasing the volume and difficulty of medical waste disposal and exacerbating the environmental burden. Furthermore, frequent replacements of the entire device drive up production and clinical costs, placing continuous economic pressure on medical institutions and indirectly affecting the rational allocation of medical resources. This waste is particularly pronounced in large-scale surgeries or resource-constrained medical settings, highlighting serious deficiencies in the sustainability and economic viability of related technologies. Summary of the Invention

[0004] The purpose of this invention is to provide a skin suturing device that has the advantages of reducing medical waste, lowering usage costs, and improving the sustainability and economy of the device.

[0005] This invention provides a skin suturing device, comprising: a housing body, a staple cartridge, a staple pushing mechanism, and a quick-change mechanism; the quick-change mechanism is fixedly installed on the housing body, and has a receiving cavity for adapting to accommodate the staple cartridge, and also has a movable limiting member; the staple cartridge is pluggably inserted into the receiving cavity, and the limiting member is used to form a detachable connection with the staple cartridge to fix the staple cartridge relative to the receiving cavity, and the limiting member can disengage from the staple cartridge under external force to release the limiting constraint on the staple cartridge; the staple pushing mechanism is fixedly installed on the housing body, and the power output end of the staple pushing mechanism corresponds to the staple outlet of the staple cartridge, the staple cartridge contains a plurality of staples, and the staple pushing mechanism is used to push the staples in the staple cartridge out one by one from the staple outlet to suture the skin to be sutured.

[0006] Optionally, the staple cartridge has a cuboid structure, and the staple cartridge has a cavity for accommodating the suture staples. The staple outlet is located at one end of the staple cartridge and communicates with the cavity.

[0007] Optionally, the staple cartridge is provided with a staple pushing assembly, which includes a staple pushing block, a push rod, a first spring, and a fixing block. The staple pushing block is movably disposed in the staple cartridge and is used to push the suture staples toward the staple outlet. The fixing block is fixedly connected to the staple cartridge. One end of the push rod is connected to the staple pushing block, and the other end passes through the fixing block along the length of the staple cartridge. The first spring is sleeved on the outer periphery of the push rod, and one end of the first spring abuts against the staple pushing block, and the other end abuts against the fixing block.

[0008] Optionally, the quick-change mechanism includes a quick-change housing, the receiving cavity is formed on the quick-change housing, the end of the staple cartridge for insertion into the receiving cavity has an internal threaded hole, the limiting member is a screw, the screw is rotatably connected to the quick-change housing, and one end of the screw extends into the receiving cavity for threaded connection with the internal threaded hole of the staple cartridge to fix the staple cartridge to the receiving cavity, and the other end of the screw extends to the outside of the quick-change housing for external force to drive its rotation.

[0009] Optionally, the quick-change mechanism further includes an adapter frame and a first motor. The adapter frame is fixedly installed on the housing body, and the quick-change housing is connected to the adapter frame. One end of the screw extends into the receiving cavity, and the other end extends into the adapter frame. The end of the screw located in the adapter frame is provided with a driven helical gear. The first motor is fixedly installed on the adapter frame, and the output end of the first motor is provided with a driving helical gear, and the driving helical gear is connected to the driven helical gear in a transmission connection.

[0010] Optionally, the quick-change mechanism further includes an ejection assembly, which includes a quick-change push block, a round rod, and a second spring. The quick-change push block is movably disposed within the receiving cavity. The screw passes through the quick-change push block. One end of the round rod extends into the receiving cavity and is connected to the quick-change push block. The other end of the round rod extends into the adapter frame. The second spring is sleeved on the round rod, with one end abutting against the quick-change push block and the other end abutting against the inner wall of the receiving cavity. When the screw disengages from the staple cartridge, the quick-change push block automatically ejects the staple cartridge from the receiving cavity under the elastic restoring force of the second spring.

[0011] Optionally, the pusher mechanism includes a second motor, a fixed bracket, a movable block, a pusher plate, and an anti-rotation guide rod. The fixed bracket is fixedly installed on the outer shell body, the second motor is fixedly installed on the fixed bracket, the movable block is threadedly connected to the rotating shaft of the second motor, the pusher plate is connected to the movable block, and the pusher plate is used to push the suture staples in the staple cartridge out of the staple outlet. The anti-rotation guide rod is connected to the fixed bracket and passes through the movable block to restrict the movable block from rotating synchronously with the rotating shaft of the second motor.

[0012] Optionally, a spring sheet structure is provided at the exit port. During the process of the pusher pushing the suture nail out of the exit port, the suture nail is used to abut against the spring sheet structure and deform. The spring sheet structure is used to deform when the pushing force on the suture nail is greater than the elastic resistance of the spring sheet structure, so that the suture nail after the preset deformation can be smoothly dislodged from the exit port.

[0013] Optionally, the outer shell body includes two plate-like structures arranged opposite each other, which are fixedly connected by a connector to form an installation space; the push-pin mechanism and the quick-change mechanism are both fixedly arranged in the installation space between the two plate-like structures, and the outer side wall of the plate-like structure is provided with a connection hole for detachable connection with the robot's end effector.

[0014] The skin suturing device provided by this invention has, but is not limited to, the following beneficial effects compared to related technologies: The skin suturing device of this invention uses a main outer shell as its external support structure to support and secure the internal functional modules, and provides an operating interface or connection interface. The staple cartridge is a replaceable component, pre-loaded with multiple staples for supplying suture material during suturing. The staple pushing mechanism is the core actuator of the device, receiving control commands and driving the internal mechanical structure to push the staples out of the cartridge in a preset sequence. The quick-change mechanism enables rapid replacement of the staple cartridge; its mechanical design allows the operator to easily install or remove the cartridge without disassembling the entire device. The receiving cavity is a space formed within the quick-change mechanism specifically for receiving and positioning the staple cartridge, ensuring accurate insertion and alignment with other parts of the device. The limiting member is a movable component on the quick-change mechanism, mechanically locking the cartridge after it is inserted into the receiving cavity to prevent accidental dislodgement or displacement during use. This skin suturing device of the present invention achieves convenient loading, unloading, and replacement of the staple cartridge by introducing a quickly replaceable cartridge and quick-change mechanism. Therefore, the main body of the device is reusable, requiring only the replacement of the staple cartridge, significantly reducing the amount of medical waste generated per surgery and alleviating the pressure of medical waste disposal. At the same time, this modular design effectively saves production and operating costs, improves the efficiency of medical resource utilization, and provides an economical and environmentally friendly solution for skin suturing procedures such as general surgery, thoracic and abdominal surgeries, and burn surgery.

[0015] In addition, the present invention also provides a robot including the skin suturing device as described above. The skin suturing device is connected to the end effector of the robot through a housing body. The robot is used to drive the skin suturing device to move to the position of the skin to be sutured and control it to complete the suturing operation.

[0016] Since the technical improvements and effects achieved by the robot are the same as those of the skin suturing device, the technical effects of the robot will not be described in detail. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the skin suturing device according to an embodiment of the present invention; Figure 2 This is an assembly diagram of the staple cartridge, staple pushing mechanism, and quick-change mechanism according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the staple cartridge structure according to an embodiment of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the staple cartridge structure according to an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the staple cartridge structure according to an embodiment of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of the quick-change mechanism according to an embodiment of the present invention. Figure 1 ; Figure 7 This is a schematic diagram of the quick-change mechanism according to an embodiment of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the push-pin mechanism according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Outer shell; 11. Plate structure; 2. Pin magazine; 21. Pin outlet; 22. Spring structure; 23. Pin pusher block; 24. Push rod; 25. First spring; 26. Fixing block; 27. Internal threaded hole; 3. Pin pusher mechanism; 31. Second motor; 32. Fixed bracket; 33. Movable block; 34. Push plate; 35. Anti-rotation guide rod; 4. Quick-change mechanism; 41. Quick-change housing; 411. Receiving cavity; 42. Screw; 43. Adapter frame; 44. First motor; 45. Driven helical gear; 46. Driven helical gear; 47. Quick-change pusher block; 48. Round rod; 49. Second spring. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] In the description of this invention, the orientations or positional relationships indicated by terms such as "up," "down," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0023] Furthermore, in the attached diagram, the X-axis represents the horizontal direction, that is, the left and right position, with the positive direction of the X-axis representing the right and the negative direction of the X-axis representing the left; the Y-axis represents the vertical direction, that is, the front and back position, with the positive direction of the Y-axis representing the front and the negative direction of the Y-axis representing the back; and the Z-axis represents the vertical direction, that is, the up and down position, with the positive direction of the Z-axis representing the up and the negative direction of the Z-axis representing the down.

[0024] It should also be noted that the aforementioned X-axis, Y-axis and Z-axis are used only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0025] like Figures 1 to 2 As shown, the skin suturing device of this embodiment includes: a housing body 1, a staple cartridge 2, a staple pushing mechanism 3, and a quick-change mechanism 4; the quick-change mechanism 4 is fixedly installed on the housing body 1, and the quick-change mechanism 4 has a receiving cavity 411 for adapting to accommodate the staple cartridge 2, and the quick-change mechanism 4 also has a movable limiting member; the staple cartridge 2 is inserted into the receiving cavity 411 in a pluggable manner, and the limiting member is used to form a detachable connection with the staple cartridge 2 to fix the staple cartridge 2 relative to the receiving cavity 411, and the limiting member can disengage from the staple cartridge 2 under the action of external force to release the limiting constraint on the staple cartridge 2; the staple pushing mechanism 3 is fixedly installed on the housing body 1, and the power output end of the staple pushing mechanism 3 corresponds to the staple outlet 21 of the staple cartridge 2, the staple cartridge 2 is provided with a plurality of staples, and the staple pushing mechanism 3 is used to push the staples in the staple cartridge 2 out one by one from the staple outlet 21 to suture to the skin to be sutured.

[0026] In this embodiment, the outer shell 1 serves as the external support structure of the device, supporting and fixing the various internal functional modules and providing an operating interface or connection interface. The staple cartridge 2 is a replaceable component, pre-loaded with multiple staples for providing suture material during the suturing process. The staple pushing mechanism 3 is the core actuator of the device, receiving control commands and driving the internal mechanical structure to push the staples in the staple cartridge 2 out in a preset sequence. The quick-change mechanism 4 is a module for quickly replacing the staple cartridge 2; its mechanical design allows the operator to easily install or remove the staple cartridge 2 without disassembling the entire device. The receiving cavity 411 is a space formed inside the quick-change mechanism 4, specifically for receiving and positioning the staple cartridge 2, ensuring accurate insertion and alignment with other parts of the device. The limiting member is a movable component on the quick-change mechanism 4, mechanically locking the staple cartridge 2 after it is inserted into the receiving cavity 411 to prevent accidental dislodgement or displacement during use. The staple outlet 21 is an opening on the staple cartridge 2 for pushing out the staples, through which the staples are pushed towards the skin to be sutured. Suture staples are medical consumables used for skin suturing. They are usually made of biocompatible materials and are implanted into the skin tissue to close the incision through the action of the staple pusher mechanism 3.

[0027] Specifically, the skin suturing device in this embodiment mainly consists of a housing body 1, a staple cartridge 2, a staple pushing mechanism 3, and a quick-change mechanism 4. The housing body 1 serves as the external frame of the device, integrating and protecting the internal components. For example, the housing body 1 can be designed as a one-piece molded shell, with the staple cartridge 2, staple pushing mechanism 3, and quick-change mechanism 4 fixed inside by screws or clips. Alternatively, the housing body 1 can be assembled from multiple independent plates or frames through welding, riveting, etc., forming an open or semi-open structure to facilitate the installation and maintenance of the internal components. The quick-change mechanism 4 is fixedly installed on the housing body 1, and its main function is to enable the rapid loading and unloading of the staple cartridge 2. The quick-change mechanism 4 has a receiving cavity 411, the shape and size of which are designed to match the shape of the staple cartridge 2 to ensure that the pluggable part of the staple cartridge 2 can be accurately inserted and positioned. For example, the receiving cavity 411 can be an open slot, allowing the staple cartridge 2 to slide in from the top or side. The quick-change mechanism 4 also has movable limiting members. The limiting component is used to mechanically secure the staple cartridge 2 after it is inserted into the receiving cavity 411. The staple cartridge 2 is designed as a pluggable structure, capable of being partially inserted into the receiving cavity 411 of the quick-change mechanism 4. The staple cartridge 2 is pre-loaded with multiple sutures, which can be rectangular in shape to accommodate the sutures and fit into the receiving cavity 411. For example, the staple cartridge 2 can be a simple box-shaped structure with a staple outlet 21 at one end and the other end for insertion into the receiving cavity 411. The staple pushing mechanism 3 is also fixedly mounted on the outer shell 1, and its power output end is precisely positioned to correspond to the staple outlet 21 of the staple cartridge 2. The core function of the staple pushing mechanism 3 is to push the sutures one by one from the staple outlet 21 within the staple cartridge 2 to complete the skin suturing. The alignment of the power output end of the staple pushing mechanism 3 with the staple outlet 21 of the staple cartridge 2 ensures that the sutures are accurately pushed out and applied to the skin to be sutured.

[0028] This embodiment of the skin suturing device introduces a quickly replaceable staple cartridge 2 and a quick-change mechanism 4, enabling convenient loading, unloading, and replacement of the staple cartridge 2. As a result, the main body of the device is reusable, requiring only the replacement of the staple cartridge 2, significantly reducing the amount of medical waste generated per surgery and alleviating the pressure of medical waste disposal. Simultaneously, this modular design effectively saves production and operating costs, improves the utilization efficiency of medical resources, and provides an economical and environmentally friendly solution for skin suturing procedures such as general surgery, thoracic and abdominal surgeries, and burn surgery skin grafting.

[0029] Optionally, the staple cartridge 2 has a cuboid structure, and the staple cartridge 2 has a cavity for accommodating the suture staples. The staple outlet 21 is opened at one end of the staple cartridge 2 and communicates with the cavity.

[0030] In this embodiment, in conjunction with the appendix Figure 3As shown, the staple cartridge 2 is designed as a cuboid structure. Its regular geometry makes it easy to standardize during manufacturing and allows for efficient use of internal space to arrange and store staples. This structure also facilitates precise fitting and insertion / removal of the staple cartridge 2 with the receiving cavity 411 of the quick-change mechanism 4, ensuring accurate positioning and smooth operation. Simultaneously, the staple cartridge 2 has an internal cavity for accommodating staples. This cavity is the space within the staple cartridge 2 used to store staples and can be one or more channels or slots that match the shape of the staples. The cavity is designed to ensure that the staples are arranged orderly inside, avoiding jamming caused by disordered stacking, thus ensuring smooth movement of the staples under the action of the staple pusher mechanism 3. The size and shape of the cavity can be precisely designed according to the specifications of the staples used to accommodate different types of staples and ensure their stability during the push-out process.

[0031] Optionally, the staple cartridge 2 is provided with a staple pushing assembly, which includes a staple pushing block 23, a push rod 24, a first spring 25, and a fixing block 26. The staple pushing block 23 is movably disposed in the staple cartridge 2 and is used to push the suture staples toward the staple outlet 21. The fixing block 26 is fixedly connected to the staple cartridge 2. One end of the push rod 24 is connected to the staple pushing block 23, and the other end passes through the fixing block 26 along the length of the staple cartridge 2. The first spring 25 is sleeved on the outer periphery of the push rod 24, and one end of the first spring 25 abuts against the staple pushing block 23, and the other end abuts against the fixing block 26.

[0032] In this embodiment, in conjunction with the appendix Figure 5As shown, the staple pusher assembly is a mechanism located inside the staple cartridge 2. Its core function is to achieve automatic and continuous feeding of staples, ensuring the orderly arrangement and stable forward movement of staples within the staple cartridge 2. The staple pusher block 23 is movably disposed within the staple cartridge 2. It is the component that directly contacts and applies pushing force to the staples. It is typically designed to match the shape of the staples to ensure that the staples are not damaged during advancement and to stably push one or more rows of staples. The staple pusher block 23 is movably disposed inside the staple cartridge 2 along the arrangement direction of the staples. For example, it can slide along a guide rail provided on the inner wall of the staple cartridge 2, or achieve linear movement through its connection with the push rod 24. The fixing block 26 is fixedly connected inside the staple cartridge 2. Its main function is to provide a stable abutment end for the first spring 25 and to serve as a guide support for the push rod 24. The fixing block 26 is typically firmly installed on the inner wall of the staple cartridge 2 to ensure that its position remains unchanged during the operation of the staple pusher assembly, thereby ensuring the movement accuracy of the staple pusher block 23 and the push rod 24. The main function of the push rod 24 is to transmit the thrust of the first spring 25 to the pusher block 23 and provide stable motion guidance for the pusher block 23. The first spring 25 is the core component that provides continuous thrust, and a helical compression spring is usually selected. When the staple cartridge 2 is full of staples, the first spring 25 is compressed and stores elastic potential energy.

[0033] Specifically, the first spring 25 continuously applies an elastic force to the pusher block 23, which is transmitted to the pusher block 23 via the push rod 24. Under the action of the first spring 25, the pusher block 23 continuously pushes the suture staples in the staple cartridge 2 towards the staple outlet 21 (see attached diagram). Figure 1 (In the Y-axis direction) the suture is advanced. The fixed block 26 provides a stable support point for the first spring 25 and guides the movement of the push rod 24, ensuring that the advancing direction of the push block 23 is accurate. This design ensures the orderly arrangement and stable forward movement of the suture staples in the staple cartridge 2, so that the push mechanism 3 can accurately pick up and push out the suture staples from the staple outlet 21 each time, thereby significantly improving the suturing efficiency and reliability of the skin suturing device and avoiding operation interruption or failure due to suture staple jamming or insufficient staple supply.

[0034] Optionally, the quick-change mechanism 4 includes a quick-change housing 41, a receiving cavity 411 formed on the quick-change housing 41, and an internally threaded hole 27 at one end of the staple cartridge 2 for insertion into the receiving cavity 411. The limiting member is a screw 42, which is rotatably connected to the quick-change housing 41, with one end of the screw 42 extending into the receiving cavity 411 for threaded connection with the internally threaded hole 27 of the staple cartridge 2 to fix the staple cartridge 2 to the receiving cavity 411. The other end of the screw 42 extends to the outside of the quick-change housing 41 for rotation driven by external force.

[0035] In this embodiment, in conjunction with the appendix Figure 4and attached Figure 6 As shown, the receiving cavity 411 is a space inside the quick-change housing 41 specifically designed to accommodate the staple cartridge 2. Its size and shape are precisely designed to ensure smooth insertion and removal of the staple cartridge 2 and accurate alignment after insertion. The staple cartridge 2 has an internally threaded hole 27 at one end for insertion into the receiving cavity 411. This internally threaded hole 27 is a key structure for achieving the threaded connection; its thread type, pitch, and depth must precisely match the thread of the screw 42 to ensure a tight and reliable connection. The screw 42, as a limiting component, is connected to the quick-change housing 41 by rotation, for example, supported by bearings or bushings, ensuring smooth rotation and stable positioning. One end of the screw 42 extends into the receiving cavity 411 and engages with the internally threaded hole 27 of the staple cartridge 2. This threaded connection provides a stable and controllable fixation effect, ensuring the stability of the staple cartridge 2 during operation. The other end of the screw 42 extends to the outside of the quick-change housing 41, so that the operator can rotate it by external force such as a manual knob, wrench or automatic drive device, thereby locking and unlocking the nail cartridge 2.

[0036] Optionally, the quick-change mechanism 4 further includes an adapter frame 43 and a first motor 44. The adapter frame 43 is fixedly installed on the outer shell body 1, and the quick-change housing 41 is connected to the adapter frame 43. One end of the screw 42 extends into the receiving cavity 411, and the other end extends into the adapter frame 43. The end of the screw 42 located in the adapter frame 43 is provided with a driven helical gear 45. The first motor 44 is fixedly installed on the adapter frame 43, and the output end of the first motor 44 is provided with a driving helical gear 46, and the driving helical gear 46 is connected to the driven helical gear 45 in a transmission connection.

[0037] In this embodiment, in conjunction with the appendix Figure 7As shown, the adapter frame 43, as a structural component, primarily provides a stable mounting platform and connection interface. It is fixedly mounted on the main housing 1 and supports the quick-change housing 41. Furthermore, the adapter frame 43 provides internal space and mounting positions for the extension of the screw 42 and the first motor 44, ensuring that these components can work together to achieve the automated quick-change function of the staple cartridge 2. The first motor 44 is an actuator that provides rotational power, driving the screw 42 to rotate, thereby achieving automated threaded connection or separation between the staple cartridge 2 and the quick-change mechanism 4. The first motor 44 can be a DC motor, stepper motor, or servo motor, depending on factors such as the required speed, torque, control accuracy, and cost. Precise motor control enables automated and precise rotation of the screw 42, avoiding the inconvenience and uncertainty of manual operation. The driven helical gear 45 is a gear mounted on the extension end of the screw 42, receiving power from the driving helical gear 46 and transmitting this rotational motion to the screw 42. The driven helical gear 45 and the screw 42 are typically fixed together by a key connection, spline connection, or integral molding to ensure synchronous rotation. The driving helical gear 46 is a gear mounted on the output shaft of the first motor 44, and its function is to transmit the rotational power of the first motor 44 to the driven helical gear 45. The driving helical gear 46 and the driven helical gear 45 are connected by meshing, and their gear ratio determines the relationship between the rotational speed of the screw 42 and the rotational speed of the first motor 44, thus affecting the screw magazine 2's screw-in / screw-out speed. The driving helical gear 46 and the output shaft of the first motor 44 are typically fixed together by press fitting, key connection, or threaded connection.

[0038] Optionally, the quick-change mechanism 4 further includes an ejection assembly, which includes a quick-change push block 47, a round rod 48, and a second spring 49. The quick-change push block 47 is movably disposed within the receiving cavity 411. The screw 42 passes through the quick-change push block 47. One end of the round rod 48 extends into the receiving cavity 411 and is connected to the quick-change push block 47. The other end of the round rod 48 extends into the adapter frame 43. The second spring 49 is sleeved on the round rod 48, with one end of the second spring 49 abutting against the quick-change push block 47 and the other end abutting against the inner wall of the receiving cavity 411. When the screw 42 disengages from the staple cartridge 2, the quick-change push block 47 is used to automatically eject the staple cartridge 2 from the receiving cavity 411 under the elastic restoring force of the second spring 49.

[0039] In this embodiment, in conjunction with the appendix Figure 7As shown, the ejection assembly is a functional component that assists in the automatic ejection of the staple cartridge 2. It can be any mechanical structure capable of providing thrust, such as a spring, cylinder, hydraulic cylinder, or lever mechanism. In this application, its specific implementation includes a quick-change push block 47, a round rod 48, and a second spring 49. The quick-change push block 47 is a component movably disposed within the receiving cavity 411, its main function being to directly contact the staple cartridge 2 and apply thrust to it. The round rod 48 is used to connect the quick-change push block 47 and guide its movement. One end of it extends into the receiving cavity 411 and connects to the quick-change push block 47, while the other end extends into the adapter frame 43. The round rod 48 ensures that the quick-change push block 47 moves stably and accurately when ejecting the staple cartridge 2. The round rod 48 can be a smooth metal rod to reduce friction during movement. The second spring 49 is the core component providing the ejection force. It is sleeved on the round rod 48, with one end abutting against the quick-change push block 47 and the other end abutting against the inner wall of the receiving cavity 411. The second spring 49 is compressed when the staple cartridge 2 is inserted, storing elastic potential energy. When the screw 42 disengages from the staple cartridge 2, its elastic restoring force pushes the quick-change push block 47 forward, thereby automatically ejecting the staple cartridge 2. The structure of the screw 42 passing through the quick-change push block 47 ensures that the screw 42 will not interfere with the quick-change push block 47 during rotation and retraction, while allowing the quick-change push block 47 to slide freely around the screw 42. The quick-change push block 47 should have a through hole adapted to the diameter of the screw 42, and the inner wall of the through hole should be smooth to reduce friction. The quick-change push block 47 is used to automatically eject the staple cartridge 2 from the receiving cavity 411 when the screw 42 disengages from the staple cartridge 2 under the action of the elastic restoring force of the second spring 49. This clarifies the working timing and mechanism of the ejection component. When the screw 42 completely disengages from the internal threaded hole 27 of the staple cartridge 2 through reverse rotation, the previously compressed second spring 49 immediately releases its stored energy, pushes the quick-change push block 47, and pushes the staple cartridge 2 out of the receiving cavity 411, thus achieving automatic separation of the staple cartridge 2.

[0040] Optionally, the pusher mechanism 3 includes a second motor 31, a fixed bracket 32, a movable block 33, a pusher plate 34, and an anti-rotation guide rod 35. The fixed bracket 32 ​​is fixedly installed on the outer shell body 1, the second motor 31 is fixedly installed on the fixed bracket 32, the movable block 33 is threadedly connected to the rotating shaft of the second motor 31, the pusher plate 34 is connected to the movable block 33, and the pusher plate 34 is used to push the suture staples in the staple cartridge 2 out from the staple outlet 21. The anti-rotation guide rod 35 is connected to the fixed bracket 32 ​​and passes through the movable block 33 to restrict the movable block 33 from rotating synchronously with the rotating shaft of the second motor 31.

[0041] In this embodiment, in conjunction with the appendix Figure 8As shown, the second motor 31, serving as the power source for the staple pushing mechanism 3, provides rotational power. This motor can be a stepper motor, DC servo motor, or AC servo motor, etc. By precisely controlling its speed, rotation angle, or torque, fine control of the staple ejection process can be achieved, ensuring the accuracy and repeatability of the staple pushing action. The fixed bracket 32 ​​is used to securely mount the second motor 31 onto the housing body 1 and provides stable support and a mounting base for the movable block 33 and the anti-rotation guide rod 35. The movable block 33 is threadedly connected to the shaft of the second motor 31. When the second motor 31 rotates, its rotational motion is converted into linear reciprocating motion of the movable block 33 through the threaded pair. The movable block 33 typically has an internal thread that matches the shaft thread, and its external structure is used to connect the push plate 34 and cooperate with the anti-rotation guide rod 35 to prevent rotation. The push plate 34 is directly connected to the movable block 33, and its main function is to directly contact the staples in the staple cartridge 2 and push them out from the staple outlet 21. The shape and size of the pusher 34 should match the geometry of the suture staples and the internal structure of the staple cartridge 2 to ensure stable action on the suture staples during advancement, avoiding deflection or jamming. The anti-rotation guide rod 35 is connected to the fixed bracket 32 ​​and passes through the movable block 33. Its core function is to restrict the movable block 33 from rotating synchronously with the shaft of the second motor 31, thereby ensuring that the movable block 33 only performs purely linear movement.

[0042] It should be noted that, in conjunction with the appendix Figure 3 As shown, a window is provided above the staple cartridge 2 near the staple outlet 21 for the pusher 34 to extend into. The pusher 34 can extend into the staple cartridge 2 through the window and come into contact with the staples.

[0043] Optionally, a spring sheet structure 22 is provided at the exit port 21. During the process of the pusher 34 pushing the suture nail out of the exit port 21, the suture nail is used to abut against the spring sheet structure 22 and deform. The spring sheet structure 22 is used to deform when the pushing force on the suture nail is greater than the elastic resistance of the spring sheet structure 22, so that the suture nail after the preset deformation can be smoothly dislodged from the exit port 21.

[0044] In this embodiment, in conjunction with the appendix Figure 5As shown, the spring-loaded structure 22 is a thin, elastic component, typically made of a material with good elastic recovery, such as stainless steel, titanium alloy, or specific engineering plastics. This structure can be designed in various geometries, such as rectangular, U-shaped, or arc-shaped, and is fixedly installed on the edge or inside of the staple outlet 21, with its elastic portion extending into the staple ejection path. The main function of the spring-loaded structure 22 is to apply a controllable elastic resistance to the staple as it passes through the staple outlet 21, guiding the staple to deform according to a preset trajectory and manner. When the pusher 34, driven by the staple pusher mechanism 3, pushes the staple towards the staple outlet 21, the staple contacts the spring-loaded structure 22. Due to the elasticity of the spring-loaded structure 22, it generates a reaction force on the staple, forcing the staple to bend, fold, or shape as it passes through the narrow channel of the staple outlet 21, thereby forming a preset shape. The material selection, thickness, geometry, and installation position and angle of the spring structure 22 at the staple outlet 21 can all be precisely designed and adjusted according to the desired staple deformation effect to ensure that the staple can be accurately molded into a shape suitable for sewing, such as a U-shape or C-shape. Furthermore, the working mechanism of the spring structure 22 is that it only deforms when the thrust on the staple exceeds its own elastic resistance. This means that before the staple is ejected, the preset resistance provided by the spring structure 22 must be overcome, ensuring that the staple can fully complete its preset deformation as it passes through the spring structure 22. Once the thrust provided by the staple pusher 3 is large enough, the spring structure 22 will be pushed open by the staple, allowing the deformed staple to smoothly exit from the staple outlet 21. A precise matching design is needed between the elastic resistance of the spring structure 22 and the thrust of the staple pusher 3 to ensure both effective staple deformation and smooth ejection, avoiding jamming.

[0045] Optionally, the outer shell body 1 includes two plate-shaped structures 11 arranged opposite to each other, and the two plate-shaped structures 11 are fixedly connected by a connector to form an installation space; the push pin mechanism 3 and the quick-change mechanism 4 are both fixedly arranged in the installation space between the two plate-shaped structures 11, and the outer side wall of the plate-shaped structure 11 is provided with a connection hole for detachable connection with the robot's execution end.

[0046] In this embodiment, in conjunction with the appendix Figure 1As shown, two plate-like structures 11 are fixedly connected by connectors to form an internal mounting space. The connectors can take various forms, such as using precision-machined studs and screws to firmly connect the two plate-like structures 11, or using snap-fit, riveting, or welding methods. The push-pin mechanism 3 and quick-change mechanism 4 are both fixedly installed within the mounting space between the two plate-like structures 11. This internally integrated layout allows the push-pin mechanism 3 and quick-change mechanism 4 to be fully protected by the outer shell 1, avoiding the impact of external environmental factors (such as collisions, liquid splashes, etc.) on the precision mechanisms. At the same time, this compact layout also helps optimize the overall size and weight of the device, making it more suitable for use as a robot end effector. Furthermore, connection holes are provided on the outer wall of the plate-like structure 11 for detachable connection to the robot's end effector. These connection holes can be designed according to the standard interface of the robot end effector; for example, they can be an array of multiple standardized threaded holes, or positioning holes and locking mechanisms with specific shapes. Through these connection holes, the skin suturing device can be easily and quickly installed onto the robot's robotic arm, achieving a reliable mechanical connection.

[0047] In addition, the present invention also provides a robot, including the skin suturing device as described above. The skin suturing device is connected to the end effector of the robot through the outer shell body 1. The robot is used to drive the skin suturing device to move to the position of the skin to be sutured and control it to complete the suturing operation.

[0048] In this embodiment, the skin suturing device is connected to the robot's end effector via the outer shell 1, meaning the skin suturing device is mechanically connected to the robot's end effector through its outer shell 1. This connection can be detachable or semi-permanent, designed to integrate the skin suturing device into the robot system. For example, the outer shell 1 can be equipped with standard mechanical interfaces, such as flanges, dovetail grooves, or snap-fit ​​mechanisms, to match the corresponding interfaces on the robot's end effector. Connectors can be bolts, quick-release clamps, or magnetic adsorption mechanisms to ensure the stability and positioning accuracy of the connection. This connection enables the robot to grasp, carry, and manipulate the skin suturing device. The robot's use to drive the skin suturing device to the location of the skin to be sutured refers to the robot utilizing its multi-axis motion capabilities to precisely move the skin suturing device connected to its end effector to the predetermined location of the skin to be sutured within the surgical area. The robot is typically equipped with a high-precision motion control system and a visual navigation system. Before surgery, the precise coordinates of the skin to be sutured can be determined using image recognition, 3D modeling, or intraoperative real-time positioning technology. The robot controller generates a motion trajectory based on these coordinates, driving the robotic arm to smoothly and accurately move the skin suturing device along a preset path to the target location. This includes precise control of position, posture, and speed to avoid damage to surrounding tissues. Robotic control of the suturing process means that the robot not only moves the skin suturing device but also communicates with it through its control system, triggering and managing the suturing process. The robot control system can exchange data and transmit commands with the internal control unit of the skin suturing device (e.g., the motors controlling the staple pusher 3 and quick-change mechanism 4) via wired or wireless means. For example, the robot can send commands to activate the staple pusher 3 for suturing, or control the quick-change mechanism 4 to perform the staple cartridge 2 replacement operation when it is necessary. This control automates and standardizes the suturing action, ensuring consistency in the depth, spacing, and force of each suture, thereby improving surgical quality and efficiency.

[0049] By integrating a skin suturing device with a robot, the robot can precisely drive the device to the location of the skin to be sutured and automate the suturing process. This significantly improves the accuracy and repeatability of the suturing operation, avoiding errors and fatigue that may occur with human operation, and is particularly suitable for complex surgical environments requiring high-precision positioning and standardized procedures. The robot's precise control over the suturing process ensures consistency in suture depth, spacing, and force, thereby improving surgical quality and efficiency. Furthermore, this integration also enables remote and minimally invasive surgery, expanding the application range of skin suturing devices.

[0050] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0051] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A skin suturing device, characterized in that, include: The device comprises a housing body (1), a staple cartridge (2), a staple pushing mechanism (3), and a quick-change mechanism (4); the quick-change mechanism (4) is fixedly mounted on the housing body (1), and has a receiving cavity (411) for accommodating the staple cartridge (2), and also has a movable limiting member; the staple cartridge (2) is pluggably inserted into the receiving cavity (411), and the limiting member is used to form a detachable connection with the staple cartridge (2) to achieve the staple cartridge (2) relative to the receiving cavity (411). 411) is fixed, and the limiting member can disengage from the staple cartridge (2) under the action of external force to release the limiting constraint on the staple cartridge (2); the staple pushing mechanism (3) is fixedly installed on the outer shell body (1), and the power output end of the staple pushing mechanism (3) corresponds to the staple outlet (21) of the staple cartridge (2). The staple cartridge (2) is provided with a plurality of suture staples. The staple pushing mechanism (3) is used to push the suture staples in the staple cartridge (2) out one by one from the staple outlet (21) to suture to the skin to be sutured.

2. The skin suturing device according to claim 1, characterized in that, The staple cartridge (2) has a cuboid structure and a cavity for accommodating the suture staples. The staple outlet (21) is located at one end of the staple cartridge (2) and is connected to the cavity.

3. The skin suturing device according to claim 2, characterized in that, The staple cartridge (2) is provided with a staple pushing assembly, which includes a staple pushing block (23), a push rod (24), a first spring (25), and a fixing block (26). The staple pushing block (23) is movably disposed in the staple cartridge (2) and is used to push the staples toward the staple outlet (21). The fixing block (26) is fixedly connected to the staple cartridge (2). One end of the push rod (24) is connected to the staple pushing block (23), and the other end passes through the fixing block (26) along the length of the staple cartridge (2). The first spring (25) is sleeved on the outer periphery of the push rod (24), and one end of the first spring (25) abuts against the staple pushing block (23), and the other end abuts against the fixing block (26).

4. The skin suturing device according to claim 1, characterized in that, The quick-change mechanism (4) includes a quick-change housing (41), the receiving cavity (411) is opened on the quick-change housing (41), the end of the staple cartridge (2) used to insert into the receiving cavity (411) is provided with an internal thread hole (27), the limiting member is a screw (42), the screw (42) is rotatably connected to the quick-change housing (41), and one end of the screw (42) extends into the receiving cavity (411) for threaded connection with the internal thread hole (27) of the staple cartridge (2) to fix the staple cartridge (2) to the receiving cavity (411), and the other end of the screw (42) extends to the outside of the quick-change housing (41) for external force to drive its rotation.

5. The skin suturing device according to claim 4, characterized in that, The quick-change mechanism (4) further includes an adapter frame (43) and a first motor (44). The adapter frame (43) is fixedly installed on the outer shell body (1). The quick-change housing (41) is connected to the adapter frame (43). One end of the screw (42) extends into the receiving cavity (411), and the other end extends into the adapter frame (43). The end of the screw (42) located in the adapter frame (43) is provided with a driven helical gear (45). The first motor (44) is fixedly installed on the adapter frame (43). The output end of the first motor (44) is provided with a driving helical gear (46), and the driving helical gear (46) is connected to the driven helical gear (45) in a transmission connection.

6. The skin suturing device according to claim 5, characterized in that, The quick-change mechanism (4) further includes an ejection assembly, which includes a quick-change push block (47), a round rod (48), and a second spring (49). The quick-change push block (47) is movably disposed within the receiving cavity (411). The screw (42) passes through the quick-change push block (47). One end of the round rod (48) extends into the receiving cavity (411) and is connected to the quick-change push block (47). The other end of the round rod (48) extends to the adapter. Inside the frame (43), the second spring (49) is sleeved on the round rod (48), and one end of the second spring (49) abuts against the quick-change push block (47), and the other end abuts against the inner wall of the receiving cavity (411). When the screw (42) disengages from the staple cartridge (2), the quick-change push block (47) is used to automatically push the staple cartridge (2) out of the receiving cavity (411) under the elastic restoring force of the second spring (49).

7. The skin suturing device according to claim 1, characterized in that, The pusher mechanism (3) includes a second motor (31), a fixed bracket (32), a movable block (33), a pusher plate (34), and an anti-rotation guide rod (35). The fixed bracket (32) is fixedly installed on the outer shell body (1). The second motor (31) is fixedly installed on the fixed bracket (32). The movable block (33) is threadedly connected to the shaft of the second motor (31). The pusher plate (34) is connected to the movable block (33). The pusher plate (34) is used to push the suture nail in the nail magazine (2) out of the nail outlet (21). The anti-rotation guide rod (35) is connected to the fixed bracket (32) and passes through the movable block (33) to restrict the movable block (33) from rotating synchronously with the shaft of the second motor (31).

8. The skin suturing device according to claim 7, characterized in that, A spring sheet structure (22) is provided at the exit port (21). During the process of the pusher (34) pushing the suture nail out of the exit port (21), the suture nail is used to abut against the spring sheet structure (22) and deform. The spring sheet structure (22) is used to deform when the pushing force on the suture nail is greater than the elastic resistance of the spring sheet structure (22), so that the suture nail after the preset deformation can be smoothly dislodged from the exit port (21).

9. The skin suturing device according to claim 1, characterized in that, The outer shell body (1) includes two plate-shaped structures (11) arranged opposite to each other. The two plate-shaped structures (11) are fixedly connected by connectors to form an installation space. The push-pin mechanism (3) and the quick-change mechanism (4) are both fixedly arranged in the installation space between the two plate-shaped structures (11). The outer side wall of the plate-shaped structure (11) is provided with a connection hole for detachable connection with the end effector of the robot.

10. A robot, characterized in that, The device includes a skin suturing apparatus as described in any one of claims 1 to 9, wherein the skin suturing apparatus is connected to the end effector of the robot via a housing body (1), and the robot is used to drive the skin suturing apparatus to the location of the skin to be sutured and control it to complete the suturing operation.

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