A suture instrument for minimally invasive suturing of acute achilles tendon ruptures

Abstract

This invention relates to the field of medical device technology, specifically to a suturing instrument for minimally invasive suturing of acute Achilles tendon ruptures. It includes a suture guide, a needle holder, and a guide needle. Both the guide needle and the needle holder are arc-shaped, and the arc of the guide needle matches that of the needle holder. The suture guide has an arc-shaped rack inside, and the needle holder is fixedly connected to the arc-shaped rack. Symmetrical arc-shaped grooves are formed on the inner sidewall of the suture guide, with the arc-shaped rack and the arc-shaped grooves slidingly engaged. A rotating shaft is rotatably engaged on the sidewall of the suture guide. One end of the rotating shaft is coaxially fixedly connected to a handwheel, and the other end of the rotating shaft has a driving component for driving the arc-shaped rack to move within the arc-shaped grooves. The suture guide includes a clamping component to prevent the guide needle from falling out. It also includes a guiding system for guiding the guide needle during suturing. This invention designs the guide needle as an arc-shaped structure and allows for telescopic adjustment, keeping the extended portion of the guide needle parallel to the suture guide to reduce puncture resistance and prevent the guide needle from bending or rotating during puncture.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a suturing device for minimally invasive suturing of acute Achilles tendon rupture. Background Technology

[0002] The Achilles tendon, the thickest tendon in the human body, is responsible for transmitting core force during lower limb movement. Acute Achilles tendon rupture is a common sports injury. Improper repair can easily lead to complications such as re-rupture, adhesions, and limited mobility, severely impacting the patient's quality of life and athletic ability. Currently, clinical surgical repair for acute Achilles tendon rupture is mainly divided into two categories: open suture and minimally invasive suture. Minimally invasive suture has gradually become the mainstream surgical method due to its advantages such as less trauma, faster postoperative recovery, and lower risk of adhesions.

[0003] In existing technologies, straight needles are typically used in conjunction with sutures and suture guides. By making tiny incisions on both sides of the Achilles tendon rupture, an Achilles tendon anastomosis device is used to align and anastomose the ruptured Achilles tendon, and then the Achilles tendon is fixed and sutured using the Bunnell suture method or the zigzag suture method.

[0004] However, in actual use of the aforementioned suture devices, after fixing and suturing the Achilles tendon using the Bunnell suture or the zigzag suture method, the Bunnell suture or the zigzag suture method lacks sufficient gripping force on the Achilles tendon fibers, making them prone to tearing. This prevents patients from achieving early functional training. Therefore, it is necessary to propose a suture device for minimally invasive suturing of acute Achilles tendon ruptures to solve the above problems. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a suturing instrument for minimally invasive suturing of acute Achilles tendon ruptures. The instrument features an arc-shaped guide needle that guides the suture from the distal end of the Achilles tendon rupture to the suture on the anchor pin inserted into the calcaneus. The suture then exits from the ruptured end and is sutured together with the proximal end using a locking suture technique. This method offers high stability, prevents loosening, and enables patients to begin early functional training.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A suturing instrument for minimally invasive suturing of acute Achilles tendon rupture includes a suture guide, a needle holder, and a guide needle. Both the guide needle and the needle holder are arc-shaped, and the arc of the guide needle is adapted to the arc of the needle holder. An arc-shaped rack is provided inside the suture guide, and the needle holder is fixedly connected to the arc-shaped rack. Arc-shaped grooves are symmetrically opened on the inner sidewall of the suture guide, and the arc-shaped rack and the arc-shaped grooves are slidably engaged. A rotating shaft is rotatably engaged on the sidewall of the suture guide. A handwheel is coaxially fixedly connected to one end of the rotating shaft, and a driving component for driving the arc-shaped rack to move within the arc-shaped groove is provided at the other end of the rotating shaft. A clamping component is provided inside the suture guide to prevent the guide needle from falling off. It also includes a guiding system for guiding the guide needle for suturing.

[0007] The technical principles of the above solution are as follows:

[0008] Using a suture guide, the suture on the anchor pin inserted into the calcaneus is passed through the distal end of the Achilles tendon rupture via an arc-shaped guide needle, and then exits from the ruptured end. The distal and proximal ends of the Achilles tendon rupture are then sutured together using a lockstitch technique. The arc-shaped guide needle is adapted to the curvature of the needle seat and slides along the groove with an arc-shaped toothed rack, allowing the guide needle to extend and retract while remaining parallel to the suture guide, reducing puncture resistance and preventing the guide needle from bending or rotating during puncture. The clamping component holds the guide needle in place to prevent it from falling off during puncture.

[0009] The above approach has the following beneficial effects:

[0010] 1. This method uses an arc-shaped guide needle, which can be inserted from the distal end of the Achilles tendon rupture and exit from the rupture end. Combined with the lockstitch technique, it can achieve a firm suture between the distal and proximal ends. It has a strong grip on the Achilles tendon fibers and is not easy to tear or loosen. At the same time, compared with the Bunnell suture or the zigzag suture method using a straight needle, this method greatly improves the stability of Achilles tendon suturing, which can support patients to start functional training earlier and accelerate postoperative recovery.

[0011] 2. This design incorporates an arc-shaped guide needle that extends and retracts parallel to the suture guide, avoiding the problem of tissue obstruction during straight needle puncture. This eliminates the need for repeated angle adjustments, shortens surgical time, and reduces damage and bleeding to the peritendinous soft tissues from repeated punctures, significantly lowering the risk of postoperative adhesions.

[0012] 3. This solution, through the coordinated action of the drive component and the clamping component, can not only prevent the guide needle from retracting or falling during puncture, but also effectively avoid bending and rotating the guide needle, ensuring the stability of the guide needle posture, improving the accuracy of puncture and threading, ensuring neat alignment of the Achilles tendon ends, and optimizing the suturing effect.

[0013] Furthermore, the drive assembly includes a worm gear coaxially fixedly connected to the end of the rotating shaft away from the hand-tightening wheel, and a worm wheel rotatably engaged on the inner wall of the wire guide, with the worm wheel meshing with both the arc-shaped rack and the worm gear.

[0014] Beneficial effects: The worm gear meshing transmission is smooth and can accurately transmit power to drive the arc-shaped rack, achieving uniform extension and retraction of the guide needle. Its self-locking characteristic can firmly lock the guide needle position, preventing it from retracting under force during puncture, thus improving operational stability and puncture accuracy.

[0015] Furthermore, the clamping assembly includes a piston cylinder fixedly connected to the inner wall of the wire guide, a piston axially slidingly fitted inside the piston cylinder, a threaded tube fixedly connected to the piston, and a threaded rod coaxially fixedly connected to the end of the worm gear away from the rotating shaft, with the threaded rod and the threaded tube threadedly engaged; hemispherical airbags are symmetrically fixedly connected to the inner wall of the wire guide, and the hemispherical airbags are all in communication with the piston cylinder.

[0016] Beneficial effects: By relying on the threaded rod drive to inflate and clamp the hemispherical airbag, the guide needle is flexibly clamped, which can prevent the guide needle from falling off the wire guide during use.

[0017] Furthermore, a silicone anti-slip layer is fixedly connected to the side wall of the cable guide.

[0018] Beneficial effects: The silicone anti-slip layer can prevent the suture guide from slipping out of the operator's hand when using it to guide the needle for puncture, thus improving the stability during surgery.

[0019] Furthermore, displacement distance scale lines are engraved on the side wall of the wire guide.

[0020] Beneficial effect: The displacement distance scale can display the rotation angle of the handwheel, allowing the operator to control the extension and retraction distance of the guide needle.

[0021] Furthermore, the guidance system includes a positioning module, an attitude recognition module, a simulation module, and a display module.

[0022] The positioning module includes a three-axis gyroscope sensor embedded in the side wall of the cable guide. The positioning module is used to collect the user's posture data when operating the cable guide using the three-axis gyroscope sensor.

[0023] The attitude recognition module is used to input the attitude data of the wire guide into the inertial navigation recognition algorithm to calculate the real-time operating attitude of the wire guide.

[0024] The simulation module includes a suture method library, which stores suture paths for Achilles tendon ruptures of different specifications. The simulation module is used to compare and analyze the real-time operating posture of the suture guide with the suture paths for Achilles tendon ruptures of different specifications, and generate simulated suture feedback.

[0025] The display module includes a portable display screen; the display module is used to display the suture path of Achilles tendon ruptures of different sizes and simulate suture feedback using the portable display screen.

[0026] Beneficial effects: The guidance system enables preoperative simulation practice and intraoperative posture guidance, helping surgeons become familiar with the suture path, correct operational deviations in real time, reduce the operational difficulty for new surgeons, and improve suture accuracy.

[0027] Furthermore, in the positioning module, the attitude data of the guide includes displacement direction, velocity, and angle data.

[0028] Beneficial effects: Collecting spatial motion data of the line guide provides a complete data source for the attitude recognition module, ensuring accurate real-time operation attitude calculation.

[0029] Furthermore, in the attitude recognition module, the inertial navigation recognition algorithm includes the following steps:

[0030] S101, Attitude Angle Calculation: The angle data of the guide collected by the three-axis gyroscope sensor is integrated and converted into attitude angle data through the attitude calculation algorithm.

[0031] S102, Noise Reduction Processing: The attitude angle data is denoised using a Kalman filter algorithm to output the attitude data.

[0032] S103, Differential Correction: Combining the displacement direction and velocity data collected by the positioning module, the attitude angle data is dynamically calibrated to correct the integral cumulative error and obtain the real-time operating attitude of the line guide.

[0033] Beneficial effects: By processing data step by step, sensor errors and external interference are effectively eliminated, the cumulative deviation of integration is corrected, and the real-time operation posture recognition of the line guide is ensured to be accurate.

[0034] Furthermore, in S101, the attitude angle data includes pitch angle, roll angle, and yaw angle.

[0035] Beneficial effects: The three-dimensional attitude angle can fully characterize the spatial operating attitude of the wire guide, avoiding the problem that single angle data cannot accurately reflect the puncture direction.

[0036] Furthermore, in the simulation module, the simulated suturing feedback includes the deviation value, deviation location, and operation compliance prompts between the real-time operation posture and the standard suturing path.

[0037] Beneficial effects: The simulated suturing feedback of the simulation module can intuitively provide feedback on operational deviations, helping surgeons to quickly locate problems and adjust operations. The achievement prompts can clearly indicate whether the operation meets the standards, improve the effectiveness of preoperative practice and the standardization of intraoperative operations, and reduce the surgical error rate. Attached Figure Description

[0038] Figure 1 This is an isometric view of the suture guide in the suturing instrument used for minimally invasive suturing of acute Achilles tendon rupture according to the present invention.

[0039] Figure 2 This is a lateral sectional view of the suture guide in the suturing instrument used for minimally invasive suturing of acute Achilles tendon rupture according to the present invention.

[0040] Figure 3 This is a side sectional view of the piston cylinder in the suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to the present invention.

[0041] Figure 4 This is an isometric view of the guide needle in the suturing instrument used in the present invention for minimally invasive suturing of acute Achilles tendon rupture.

[0042] Figure 5 This is a top view of the suture guide in the suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to the present invention.

[0043] Figure 6 This is a structural framework diagram of the guiding system in the suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to the present invention.

[0044] Figure 7 This diagram illustrates the steps of the inertial navigation recognition algorithm in the guidance system of the suturing instrument for minimally invasive suturing of acute Achilles tendon rupture, as described in this invention.

[0045] The reference numerals in the accompanying drawings of the instruction manual include: 1. Thread guide; 2. Pin holder; 3. Guide pin; 4. Arc-shaped rack; 5. Arc-shaped groove; 6. Shaft; 7. Handwheel; 8. Worm; 9. Worm gear; 10. Piston cylinder; 11. Piston; 12. Threaded tube; 13. Threaded rod; 14. Hemispherical airbag; 15. Locking wheel; 16. Screw; 17. Arc-shaped support block. Detailed Implementation

[0046] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0048] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] The following detailed description illustrates the specific implementation method:

[0050] Example 1:

[0051] As attached Figure 1 , Figure 2 and Figure 4 As shown: A suturing instrument for minimally invasive suturing of acute Achilles tendon rupture includes a suture guide 1, a needle seat 2 and a guide needle 3. Both the guide needle 3 and the needle seat 2 are arc-shaped and the arc of the guide needle 3 is adapted to that of the needle seat 2.

[0052] A silicone anti-slip layer is fixedly bonded to the side wall of the suture guide 1. The silicone anti-slip layer can prevent the suture guide 1 from slipping out of the operator's hand when the guide needle 3 is being punctured, thus improving the stability during the operation.

[0053] The thread guide 1 has an arc-shaped rack 4 inside, and the needle seat 2 is integrally formed on the arc-shaped rack 4; the inner side wall of the thread guide 1 has symmetrical arc-shaped grooves 5, and the arc-shaped rack 4 and the arc-shaped grooves 5 slide in cooperation.

[0054] A rotating shaft 6 is rotatably fitted on the side wall of the wire guide 1. One end of the rotating shaft 6 is coaxially fixed to a handwheel 7 by a screw, and the other end of the rotating shaft 6 is provided with a drive component for driving the arc-shaped rack 4 to move within the arc-shaped slide groove 5.

[0055] The wire guide 1 is equipped with a clamping component to prevent the guide pin 3 from falling off.

[0056] The suture guide 1 has displacement distance scale lines engraved on its side wall. These scale lines are engraved around the circumference of the handwheel 7 on the side wall of the suture guide 1, indicating the rotation angle of the handwheel 7. This allows the operator to control the extension and retraction distance of the guide needle 3. A guiding system is also included to guide the guide needle 3 during suturing.

[0057] like Figure 2 As shown, specifically, the drive assembly includes a worm 8 coaxially integrally formed on the end of the rotating shaft 6 away from the hand-twisting wheel 7, and a worm wheel 9 rotatably fitted on the inner wall of the wire guide 1. The worm wheel 9 meshes with both the arc-shaped rack 4 and the worm 8.

[0058] Combination Figure 2 , Figure 4 and Figure 5 As shown, when using the suture guide 1 to thread the sutures on the anchors inserted into the calcaneus, leave an appropriate length of suture on the anchor and straighten it. Thread the suture through the eye of the curved guide needle 3, and then insert the curved guide needle 3 into the needle seat 2 of the suture guide 1. The operator holds the suture guide 1. Because the guide needle 3 is designed with an arc shape, the protruding tip of the guide needle 3 is parallel to the suture guide 1, making it easy for the guide needle 3 to be inserted smoothly into the puncture point. The operator then punctures the pre-set puncture point distal to the Achilles tendon rupture. If the protruding tip of the guide needle 3 is too short to be easily inserted, the handwheel 7 can be turned. The handwheel 7 drives the rotating shaft 6 to rotate synchronously, and the worm gear 8, which is integrally formed with the rotating shaft 6, rotates accordingly. This drives the meshing worm wheel 9 to rotate counterclockwise. The worm wheel 9 drives the meshing arc-shaped rack 4 to move to the left along the arc-shaped groove 5 on the inner side of the suture guide 1, thus slowly extending the arc-shaped guide needle 3.

[0059] During puncture, the guide needle 3 travels subcutaneously. Due to its arc-shaped design, the guide needle 3 can pass through the Achilles tendon rupture end and exit through the pre-set incision. At this time, the suture reserved by the anchor is attached to the suture hole of the guide needle 3, and the suture is simultaneously pulled to the inside of the Achilles tendon rupture end to complete one suture operation.

[0060] Repeat the above steps to complete the threading of the anchor suture on the other side, so that the two sutures come out from both sides of the Achilles tendon rupture. Then, use the lockstitch method to bring the two sutures together with the proximal end of the Achilles tendon and suture them together. Adjust the suture tension to align the Achilles tendon rupture ends, and finally tie a knot to fix it, completing the minimally invasive suturing operation.

[0061] In existing techniques, straight needles, sutures, and suture guides are typically used. Small incisions are made on both sides of the Achilles tendon rupture end, and an Achilles tendon anastomosis device is used to reposition and anastomose the ruptured tendon. Then, the Bunnell suture or the zigzag suture technique is used to fix and suture the ruptured Achilles tendon from the rupture end. However, in actual use, after fixing and suturing the Achilles tendon from the rupture end using the Bunnell suture or the zigzag suture technique, the gripping force of the Achilles tendon fibers is insufficient, making them prone to tearing. This prevents patients from achieving early functional training.

[0062] This design incorporates an arc-shaped guide needle 3 that extends and retracts parallel to the suture guide 1, allowing it to pass directly through the incision without repeated angle adjustments. This shortens surgical time and reduces damage and bleeding to the peritendinous soft tissues from repeated punctures, significantly lowering the risk of postoperative adhesions. Furthermore, it offers high stability, preventing loosening and enabling patients to begin early functional training.

[0063] like Figure 2 and Figure 3 As shown, specifically, the clamping assembly includes a piston cylinder 10 fixedly connected to the inner wall of the wire guide 1 by screws. A piston 11 is axially slidably fitted inside the piston cylinder 10. In this embodiment, a limiting block is integrally formed on the piston 11, and a sliding groove is opened on the inner wall of the piston cylinder 10. The limiting block slides in the sliding groove so that the piston 11 can only slide axially inside the piston cylinder 10 and cannot rotate.

[0064] A threaded tube 12 is fixedly connected to the piston 11 by screws. A threaded rod 13 is coaxially fixedly welded to the end of the worm gear 8 away from the rotating shaft 6. The threaded rod 13 and the threaded tube 12 are threadedly engaged. Hemispherical airbags 14 are symmetrically fixed and bonded to the inner wall of the wire guide 1. The hemispherical airbags 14 are all connected to the piston cylinder 10.

[0065] Combination Figure 3As shown, while the rotating shaft 6 rotates, the threaded rod 13 at the left end of the worm 8 rotates synchronously. Through the threaded engagement with the threaded tube 12, it pushes the piston 11 to move to the left, squeezing the gas in the piston cylinder 10 into the two hemispherical air bladders 14, causing the hemispherical air bladders 14 to inflate and expand, flexibly clamping the arc-shaped guide needle 3 from both sides, preventing the guide needle 3 from shaking or falling during the advancement process, and ensuring the stability of the puncture posture.

[0066] This solution, through the coordinated action of the drive component and the clamping component, can prevent the guide needle 3 from retracting or falling during puncture, and can also effectively avoid bending or rotating the guide needle 3, ensuring the stability of the guide needle 3's posture, improving the accuracy of puncture and threading, ensuring neat alignment of the Achilles tendon ends, and optimizing the suturing effect.

[0067] This design incorporates an arc-shaped guide needle 3, which can be inserted from the distal end of the Achilles tendon rupture and exit from the rupture site. Combined with the locking suture technique, it achieves a firm suture between the distal and proximal ends, providing strong grip on the Achilles tendon fibers and making them less prone to tearing or loosening. Compared with Achilles tendon rupture repair using straight needles and the Bunnell suture or the zigzag suture technique, this design significantly improves the stability of the Achilles tendon suture, allowing patients to begin functional training earlier and accelerate postoperative recovery.

[0068] Example 2:

[0069] like Figure 6 As shown, the difference from the above embodiments is that the guidance system includes a positioning module, an attitude recognition module, a simulation module, and a display module.

[0070] The positioning module includes a three-axis gyroscope sensor embedded in the side wall of the wire guide 1. The positioning module is used to collect the user's posture data when operating the wire guide 1 using the three-axis gyroscope sensor. The posture data of the wire guide 1 includes displacement direction, velocity, and angle data.

[0071] The attitude recognition module is used to input the displacement direction, velocity and angle data of the line guide 1 into the inertial navigation recognition algorithm to calculate the real-time operating attitude of the line guide 1.

[0072] like Figure 7 As shown, specifically, the inertial navigation recognition algorithm in the attitude recognition module includes the following steps:

[0073] S101, Attitude Angle Calculation: The angle data of the guide rail 1 collected by the three-axis gyroscope sensor is integrated and converted into attitude angle data through an attitude calculation algorithm. The attitude angle data includes pitch angle, roll angle, and yaw angle.

[0074] S102, Noise Reduction Processing: The attitude angle data is denoised using a Kalman filter algorithm to output the attitude data.

[0075] S103, Differential Correction: Combining the displacement direction and velocity data collected by the positioning module, the attitude angle data is dynamically calibrated to correct the integral cumulative error and obtain the real-time operating attitude of the line guide 1.

[0076] Before Achilles tendon rupture surgery, the operator holds the suture guide 1 and selects the suture path and method according to the patient's Achilles tendon rupture condition. The operator then practices pre-operatively using a guidance system to familiarize themselves with the operation and improve the accuracy and stability of the suture during surgery. During simulated needle insertion practice, the operator holds the suture guide 1. At this time, the three-axis gyroscope sensor on the suture guide 1 collects real-time data on the operator's hand movement of the suture guide 1, including displacement direction (e.g., forward / backward, left / right, up / down three-dimensional directions), movement speed, and rotation angle. A set of data is transmitted to the posture recognition module every 100ms. The posture recognition module processes the data according to steps S101-S103 and outputs the real-time operating posture of the suture guide 1.

[0077] The simulation module includes a suture method library, which stores suture paths for Achilles tendon ruptures of different sizes. In this embodiment, the suture method library stores the coordinates of the guide needle 3 entry and exit points for different diameter Achilles tendons using the Bunnell suture, Krackow suture, lock-edge suture, Savage suture, and surge suture methods. It also reserves a data update interface to import the latest clinical suture protocols. The simulation module is used to compare and analyze the real-time operating posture of the suture guide 1 with the suture paths for Achilles tendon ruptures of different sizes, and generate simulated suture feedback.

[0078] Specifically, in the simulation module, the simulated suturing feedback includes the deviation value, deviation location, and operation compliance prompts between the real-time operation posture and the standard suturing path.

[0079] The display module includes a portable display screen; the display module is used to display the suture path of Achilles tendon ruptures of different sizes and simulate suture feedback using the portable display screen.

[0080] After receiving the real-time operating posture of the suture guide 1, the simulation module calls the suture method from the pre-selected suture method library and compares and analyzes the real-time operating posture with the suture method in the library: if the operator's simulated needle insertion displacement direction, speed and angle are consistent with the standard path, the display module generates a "meeting the standard" prompt, and the standard path and the actual trajectory are synchronously superimposed in the 3D interface of the display module, marked with a green "meeting the standard" mark; if there is a deviation in puncture direction, excessive speed / slow speed or excessive angle deviation, the simulation module immediately calculates the deviation value and deviation position (such as puncture point deviation, excessive pitch angle), and generates targeted correction suggestions (such as "adjust to the left by 2°" or "reduce the advance speed"). The operator can repeatedly perform simulation practice, and the simulation module automatically records the number of deviations, correction time and success rate of each practice, allowing the operator to review and optimize operating skills.

[0081] Before surgery, the surgeon can access the standard suture path from the suture method library via the display module, based on the patient's Achilles tendon diameter and rupture location. Switching to simulation mode, the surgeon uses the handheld suture guide 1 to simulate puncture and threading operations. The positioning module collects posture data in real time, which is processed by the posture recognition module. The simulation module then compares and analyzes the data, displaying deviations on the screen. The surgeon adjusts their operation according to the prompts until the standard is met, quickly becoming familiar with and adapting to the suture path for the patient. During surgery, switching back to guidance mode, the display simultaneously shows the standard path and real-time operating posture, dynamically providing feedback on deviations. This assists the surgeon in accurately controlling the puncture angle and the extension / retraction distance of the guide needle 3, making it particularly suitable for novice surgeons or complex Achilles tendon rupture cases, further improving surgical accuracy and safety.

[0082] Example 3:

[0083] like Figure 1 , Figure 2 and Figure 5 As shown, the difference from the above embodiments is that in some embodiments, the side wall of the suture guide 1 is provided with a fixing component for fixing the position of the guide needle 3. The rest of the structure is the same as in embodiments 1 and 2. Specifically, the fixing component includes a threaded hole on the side wall of the suture guide 1, and a screw 16 is threaded into the threaded hole. One end of the screw 16 is coaxially fixed to a locking wheel 15 by a screw. When the operator is proficient in the puncture angle of the guide needle 3, the screw 16 can be rotated in the threaded hole by turning the locking wheel 15, so that the end of the screw 16 away from the locking wheel 15 extends out to contact the guide needle 3, so that the screw 16 can lock the position of the guide needle 3, so that the guide needle 3 cannot move. Therefore, when repeating punctures, the operator does not need to frequently adjust the extension distance and position of the guide needle 3, thereby improving the efficiency of repeating punctures. Figure 1 For example, when the locking wheel 15 is turned clockwise, the screw 16 can rotate clockwise in the threaded hole, so that the screw 16 can extend forward and contact and press the guide pin 3. Due to the friction between the screw 16 and the guide pin, the guide pin 3 cannot extend or retract to the left or right, thus limiting the guide pin 3. When it is necessary to release the limitation on the guide pin 3, the locking wheel 15 is turned counterclockwise, so that the screw 16 disengages from the contact with the guide pin 3, and the guide pin 3 can continue to extend or retract to the left or right.

[0084] Example 4:

[0085] like Figure 1As shown, the difference from the above embodiments is that in some embodiments, an arc-shaped support block 17 is fixedly connected to the side wall of the suture guide 1 by screws. The rest of the structure is the same as in embodiments 1, 2, and 3. Specifically, the arc-shaped support block 17 is made of medical-grade silicone material, and its outer contour arc is adapted to the physiological curvature of the posterior side of the human heel. The arc-shaped support block 17 can directly conform to the surface of the patient's heel skin, forming a stable support and positioning surface, improving the comfort and safety of the operation during the procedure. Through the conformal support of the arc-shaped support block 17 to the skin, combined with the overall gripping structure of the suture guide 1, the overall stability of the guide needle 3 during puncture is further improved, reducing the risk of path deviation.

[0086] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A suturing instrument for minimally invasive suturing of acute Achilles tendon rupture, comprising a suture guide (1), a needle hub (2), and a guide needle (3), characterized in that, Both the guide needle (3) and the needle seat (2) are arc-shaped and the arc of the guide needle (3) matches that of the needle seat (2); The thread guide (1) is provided with an arc-shaped rack (4), and the needle seat (2) is fixedly connected to the arc-shaped rack (4); the inner side wall of the thread guide (1) is symmetrically provided with arc-shaped grooves (5), the arc-shaped rack (4) and the arc-shaped grooves (5) are slidably engaged, and the side wall of the thread guide (1) is rotatably engaged with a rotating shaft (6), one end of the rotating shaft (6) is coaxially fixedly connected with a handwheel (7), and the other end of the rotating shaft (6) is provided with a drive component for driving the arc-shaped rack (4) to move in the arc-shaped groove (5); The thread guide (1) is equipped with a clamping assembly to prevent the guide needle (3) from falling off; it also includes a guiding system for guiding the guide needle (3) to sew.

2. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 1, characterized in that, The drive assembly includes a worm (8) coaxially fixedly connected to the end of the shaft (6) away from the hand-tightening wheel (7), and a worm wheel (9) rotatably engaged on the inner wall of the wire guide (1). The worm wheel (9) meshes with both the arc-shaped rack (4) and the worm (8).

3. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 2, characterized in that, The clamping assembly includes a piston cylinder (10) fixedly connected to the inner wall of the wire guide (1), a piston (11) axially slidingly fitted inside the piston cylinder (10), a threaded tube (12) fixedly connected to the piston (11), and a threaded rod (13) coaxially fixedly connected to one end of the worm gear (8) away from the rotating shaft (6), with the threaded rod (13) and the threaded tube (12) threadedly fitted. A hemispherical airbag (14) is symmetrically fixedly connected to the inner wall of the wire guide (1), and the hemispherical airbag (14) is connected to the piston cylinder (10).

4. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 3, characterized in that, The wire guide (1) has a silicone anti-slip layer fixedly connected to its side wall.

5. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 4, characterized in that, The displacement distance scale is engraved on the side wall of the wire guide (1).

6. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 5, characterized in that, The guidance system includes a positioning module, an attitude recognition module, a simulation module, and a display module; The positioning module includes a three-axis gyroscope sensor embedded in the side wall of the wire guide (1). The positioning module is used to collect the user's posture data when operating the wire guide (1) using the three-axis gyroscope sensor. The attitude recognition module is used to input attitude data into the inertial navigation recognition algorithm to calculate the real-time operating attitude of the line guide (1); The simulation module includes a suture method library, which stores suture paths for Achilles tendon ruptures of different specifications; the simulation module is used to compare and analyze the real-time operating posture of the suture guide (1) with the suture paths for Achilles tendon ruptures of different specifications, and generate simulated suture feedback. The display module includes a portable display screen; the display module is used to display the suture path of Achilles tendon ruptures of different sizes and simulate suture feedback using the portable display screen.

7. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 6, characterized in that, In the positioning module, the attitude data of the line guide (1) includes displacement direction, velocity and angle data.

8. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 7, characterized in that, In the attitude recognition module, the inertial navigation recognition algorithm includes the following steps: S101, Attitude angle calculation: The angle data of the guide wire (1) collected by the three-axis gyroscope sensor is integrated and converted into attitude angle data through the attitude calculation algorithm; S102, Noise Reduction Processing: The attitude angle data is denoised using the Kalman filter algorithm, and the attitude data is output. S103, Differential correction: Combine the displacement direction and velocity data collected by the positioning module to dynamically calibrate the attitude angle data, correct the integral cumulative error, and obtain the real-time operating attitude of the line guide (1).

9. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 8, characterized in that, In S101, attitude angle data includes pitch angle, roll angle, and yaw angle.

10. The suturing instrument for minimally invasive suturing of acute Achilles tendon rupture according to claim 9, characterized in that, In the simulation module, the simulated suturing feedback includes the deviation value, deviation location, and operation compliance prompts between the real-time operation posture and the standard suturing path.

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