Suturing mechanism

Abstract

This disclosure provides a suturing mechanism. The suturing mechanism is configured to assemble a probe tip and includes a suturing body comprising a base, a gripping channel, and a suturing structure. The base includes a base body and a probe tip receiving groove disposed on a first side of the base body. The probe tip receiving groove is configured to accommodate the probe tip and is disposed along a first axis parallel to the axial direction. The gripping channel is disposed along a second axis parallel to the axial direction. The suturing structure includes a circular suturing needle that rotates about a rotation center. The first axis and the second axis are coplanar, and the rotation center of the circular suturing needle is located within this coplanar plane. This suturing mechanism allows for better observation of the suturing effect of the probe tip while maintaining a relatively small overall size of the suturing device.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to a suturing mechanism. Background Technology

[0002] Endoscopic surgery is a key area of ​​modern surgical techniques. In endoscopic surgery, suture devices play an indispensable role in precisely suturing tissues. A suture device mainly consists of a suturing mechanism (or working head), which can be mounted at the tip of the endoscope. Using the view provided by the endoscope, surgeons can directly manipulate the suturing mechanism to perform suturing operations on the target tissue. Summary of the Invention

[0003] At least one embodiment of this disclosure relates to a suturing mechanism for better observation of the suture while maintaining a small overall size of the suturer.

[0004] According to a first aspect of this disclosure, a suturing mechanism is provided, configured to assemble a probe tip and including a suturing body, the suturing body comprising:

[0005] The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The base also includes a probe head receiving groove disposed on the first side of the base body. The probe head receiving groove is configured to receive the probe head and is disposed along a first axis parallel to the axial direction.

[0006] A grasping channel is disposed on a second side of the base body and configured to accommodate an auxiliary suturing structure, the grasping channel being disposed along a second axis parallel to the axial direction; the auxiliary suturing structure includes a grasping member configured to grasp tissue to perform an auxiliary suturing operation;

[0007] A suture structure is disposed along the thickness direction between the probe head and the gripping member and configured to perform a suture operation. The suture structure includes a suture assembly, which includes a circular suture needle that rotates about a center of rotation in a plane perpendicular to the thickness direction.

[0008] The first axis and the second axis are configured to be coplanar, and the rotation center of the annular suture needle is located within this coplanar plane.

[0009] In at least some embodiments, the annular suture needle rotates about the center of rotation in a plane perpendicular to the thickness direction and parallel to the axial direction.

[0010] The suture body described in at least some embodiments further includes:

[0011] A cover structure is disposed along the thickness direction on the side of the stitched structure away from the base body, and the cover structure has the gripping channel.

[0012] In at least some embodiments, at least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and a portion of the outer surface of the base; the arcuate outer surface has an outer arc in cross-section perpendicular to the axial direction.

[0013] In at least some embodiments, the suture structure further includes a suture transmission assembly, which includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the annular suture needle. The active member is configured to drive the annular suture needle to rotate via the driven member and the driving member.

[0014] In at least some embodiments, the base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove, wherein the first follower receiving groove and the second follower receiving groove together accommodate the follower.

[0015] In at least some embodiments, the driving member includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

[0016] In at least some embodiments, the base body is provided with a first drive member receiving groove, and the cover structure is provided with a second drive member receiving groove, wherein the first drive member receiving groove and the second drive member receiving groove together accommodate the drive member.

[0017] In at least some embodiments, the driving member includes a linear rack, the driven member includes a gear set, the driving member includes an arcuate rack, the arcuate rack meshes with the gear set, and the gear set meshes with the linear rack.

[0018] In at least some embodiments, the probe head is configured to be mounted on a first side of the base body and disposed along a third axis parallel to the axial direction; the gripping member is configured to be disposed along a fourth axis parallel to the axial direction.

[0019] In the thickness direction, the distance from the rotation center of the annular suture needle to the third axis of the probe head is shorter than the distance from the fourth axis of the gripping member to the third axis of the probe head.

[0020] In at least some embodiments, the length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

[0021] In at least some embodiments, the length of the suture body is the maximum length of the base body along the axial direction, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

[0022] According to a second aspect of this disclosure, a suturing mechanism is provided, configured to assemble a probe tip and including a suturing body, the suturing body comprising:

[0023] The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The probe head is mounted on the first side of the base body.

[0024] An auxiliary suturing structure is disposed on a second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping component configured to grip tissue to perform the auxiliary suturing operation.

[0025] A suture structure is disposed along the thickness direction between the probe head and the auxiliary suture structure and configured to perform a suture operation. The suture structure includes a suture assembly and a suture drive assembly for driving the suture assembly.

[0026] In at least some embodiments, the length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

[0027] In at least some embodiments, the length of the suture body is the maximum axial length of the base body, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

[0028] In at least some embodiments, the stitching body further includes a cover structure disposed along the thickness direction on the side of the stitching structure away from the base body, the cover structure having a gripping channel configured to accommodate the gripping component.

[0029] In at least some embodiments, at least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and the outer surface of the base; the arcuate outer surface has an outer arc in cross-section perpendicular to the axial direction.

[0030] In at least some embodiments, the suture assembly includes a circular suture needle, and the suture transmission assembly includes an active member, a driven member, and a driving member, the active member being connected to the driven member, the driven member being connected to the driving member, the driving member being connected to the circular suture needle, and the active member being configured to drive the circular suture needle to rotate via the driven member and the driving member.

[0031] In at least some embodiments, the base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove, wherein the first follower receiving groove and the second follower receiving groove together accommodate the follower.

[0032] In at least some embodiments, the driving member includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

[0033] In at least some embodiments, the base body is provided with a first drive member receiving groove, and the cover structure is provided with a second drive member receiving groove, wherein the first drive member receiving groove and the second drive member receiving groove together accommodate the drive member.

[0034] In at least some embodiments, the driving member includes a linear rack, the driven member includes a gear set, the driving member includes an arcuate rack, the arcuate rack meshes with the gear set, and the gear set meshes with the linear rack.

[0035] In at least some embodiments,

[0036] The suture assembly includes a circular suture needle that rotates about a center of rotation.

[0037] The probe head is positioned along a third axis parallel to the axial direction;

[0038] The auxiliary suture structure is configured to be arranged along a fourth axis parallel to the axial direction;

[0039] The distance from the rotation center to the third axis of the probe head is shorter than the distance from the fourth axis of the auxiliary suture structure to the third axis of the probe head.

[0040] According to a third aspect of this disclosure, a suturing mechanism is provided, configured to assemble a probe tip and including a suturing body, the suturing body comprising:

[0041] The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The probe head is mounted on the first side of the base body.

[0042] An auxiliary suturing structure is disposed on a second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping component configured to grip tissue to perform the auxiliary suturing operation.

[0043] A suture structure, the suture structure including a suture assembly including a circular suture needle disposed along the thickness direction between the probe head and the auxiliary suture structure and configured to perform a suture operation.

[0044] In at least some embodiments, the length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

[0045] In at least some embodiments, the length of the suture body is the maximum axial length of the base body, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

[0046] In at least some embodiments, the stitching body further includes a cover structure disposed along the thickness direction on the side of the stitching structure away from the base body, the cover structure having a gripping channel configured to accommodate the gripping component.

[0047] In at least some embodiments, at least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and the outer surface of the base; the arcuate outer surface has an outer arc in cross-section perpendicular to the axial direction.

[0048] In at least some embodiments, the suture structure further includes a suture transmission assembly, which includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the annular suture needle. The active member is configured to drive the annular suture needle to rotate via the driven member and the driving member.

[0049] In at least some embodiments, the base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove, wherein the first follower receiving groove and the second follower receiving groove together accommodate the follower.

[0050] In at least some embodiments, the driving member includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

[0051] In at least some embodiments, the base body is provided with a first drive member receiving groove, and the cover structure is provided with a second drive member receiving groove, wherein the first drive member receiving groove and the second drive member receiving groove together accommodate the drive member.

[0052] In at least some embodiments, the driving member includes a linear rack, the driven member includes a gear set, the driving member includes an arcuate rack, the arcuate rack meshes with the gear set, and the gear set meshes with the linear rack.

[0053] In at least some embodiments,

[0054] The annular suture needle rotates around the center of rotation;

[0055] The probe head is positioned along a third axis parallel to the axial direction;

[0056] The auxiliary suture structure is configured to be arranged along a fourth axis parallel to the axial direction;

[0057] The distance from the rotation center to the third axis of the probe head is shorter than the distance from the fourth axis of the auxiliary suture structure to the third axis of the probe head. Attached Figure Description

[0058] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0059] Figure 1 This is a schematic diagram of a stitching mechanism installed on a probe head, as provided in an embodiment of the present disclosure.

[0060] Figure 2 This is a schematic diagram of a suturing mechanism not installed on the probe head, as provided for an embodiment of this disclosure.

[0061] Figure 3 An exploded view of a suturing mechanism provided for an embodiment of this disclosure.

[0062] Figures 4 to 6 An exploded view of a partial structure of a suturing mechanism provided for an embodiment of this disclosure.

[0063] Figure 7An exploded view of a suturing mechanism / stitcher provided for embodiments of this disclosure.

[0064] Figure 8 A schematic diagram of a partial structure of a stitching mechanism provided for an embodiment of this disclosure (the linear rack is in the initial position).

[0065] Figure 9 An exploded view of a suturing mechanism / stitcher provided for embodiments of this disclosure.

[0066] Figure 10 This is a schematic diagram of an arc-shaped rack in a sewing mechanism provided for an embodiment of the present disclosure.

[0067] Figure 11 This is a schematic diagram of a drive pin and elastic element in an arc-shaped rack in a sewing mechanism provided for an embodiment of the present disclosure.

[0068] Figure 12 This is a schematic diagram of an arc-shaped rack and suture needle in a suturing mechanism provided for an embodiment of the present disclosure.

[0069] Figure 13 This is a schematic diagram illustrating the interaction between an arc-shaped rack and a suture needle in a suturing mechanism, as provided in an embodiment of this disclosure.

[0070] Figure 14 A schematic diagram of the lower surface of an arcuate rack in a sewing mechanism provided for an embodiment of this disclosure.

[0071] Figure 15 This is a schematic diagram of an unlocking cover in a sewing mechanism provided for an embodiment of the present disclosure.

[0072] Figure 16 This is a schematic diagram illustrating the installation of an unlocking cover and a mounting component in a sewing mechanism, provided for an embodiment of this disclosure.

[0073] Figure 17 This is a schematic diagram of a straight rack in a sewing mechanism in the termination position, provided for an embodiment of the present disclosure.

[0074] Figure 18 This is a schematic diagram of a suture needle being driven in a suture mechanism provided for an embodiment of the present disclosure.

[0075] Figure 19 This is a schematic diagram of a stitching drive assembly in a stitching mechanism, provided for another embodiment of this disclosure.

[0076] Figure 20 This is a schematic diagram of a stitching drive assembly in a stitching mechanism, provided for another embodiment of this disclosure.

[0077] Figure 21AA top view of a base body in a sewing mechanism provided for an embodiment of this disclosure.

[0078] Figure 21B An exploded view of a suturing mechanism provided for an embodiment of this disclosure.

[0079] Figure 22 This is a schematic diagram of a gripping channel in a sewing mechanism provided for an embodiment of the present disclosure.

[0080] Figure 23A This is a schematic diagram of a sliding member and a cover body in a sewing mechanism provided for an embodiment of the present disclosure, in an exploded state.

[0081] Figure 23B This is a schematic diagram of a sliding member and a cover body in a combined state in a sewing mechanism provided for an embodiment of the present disclosure.

[0082] Figure 24 This is a schematic diagram of a positioning structure in a sewing mechanism provided for an embodiment of the present disclosure.

[0083] Figure 25 This is a schematic diagram of a gripper receiving groove in a sewing mechanism provided for an embodiment of the present disclosure.

[0084] Figure 26 An exploded view of a suturing mechanism provided for an embodiment of this disclosure.

[0085] Figure 27A This is a schematic diagram of a suturing mechanism provided for an embodiment of the present disclosure.

[0086] Figure 27B for Figure 27A An exploded view of the suture mechanism.

[0087] Figure 28 This is a schematic diagram of the suturing body of a suturing mechanism provided for an embodiment of the present disclosure.

[0088] Figure 29 This is a schematic diagram of an arc-shaped rack receiving groove and a needle receiving groove in a sewing mechanism provided for embodiments of the present disclosure. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0090] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the operator performing the suturing operation using the suture device. The term "proximal" refers to the part closer to the operator, while the term "distal" refers to the part farther from the operator. That is, the operating handle used to control the suture mechanism is the proximal side, and the opening at the front end of the suture mechanism is the distal side. For example, the proximal end of a component refers to the end relatively closer to the operating handle, while the distal end refers to the end relatively closer to the opening at the front end of the suture mechanism.

[0091] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0092] Figure 1 This is a schematic diagram of a stitching mechanism installed on a probe head, as provided in an embodiment of the present disclosure. Figure 2 This is a schematic diagram of a suturing mechanism not installed on the probe head, as provided for an embodiment of this disclosure.

[0093] like Figure 1 and Figure 2 As shown, the suturing mechanism 900 is mounted and secured to the probe tip 930, and enters the body along with the probe tip 930 during endoscopic surgery. The suturing mechanism 900 can perform suturing operations on tissues. Figure 2 Also shown are the stitching drive tube 9701 and the spiral gripping drive tube 9702. Figure 1 and Figure 2 The strap 430 is shown, and the stitching mechanism 900 can be mounted and bound to the probe head 930 via the strap 430.

[0094] For example, the probe can be an endoscope, or more specifically, a gastroscope.

[0095] Embodiments of this disclosure provide a suture mechanism 900 applicable to gastric surgeries, such as gastric reduction surgeries. Suture surgery is reversible compared to gastric resection surgery; sutures can be removed within a certain period to allow the stomach to recover.

[0096] Figure 3An exploded view of a suturing mechanism provided for an embodiment of this disclosure. Figures 4 to 6 An exploded view of a partial structure of a suturing mechanism provided for an embodiment of this disclosure. Figure 7 An exploded view of a suturing mechanism / stitcher provided for embodiments of this disclosure. Figure 8 A schematic diagram of a partial structure of a stitching mechanism provided for an embodiment of this disclosure (the linear rack is in the initial position). Figure 9 An exploded view of a suturing mechanism / stitcher provided for embodiments of this disclosure. Figure 10 This is a schematic diagram of an arc-shaped rack in a sewing mechanism provided for an embodiment of the present disclosure. Figure 11 This is a schematic diagram of a drive pin and elastic element in an arc-shaped rack in a sewing mechanism provided for an embodiment of the present disclosure. Figure 12 This is a schematic diagram of an arc-shaped rack and suture needle in a suturing mechanism provided for an embodiment of the present disclosure. Figure 13 This is a schematic diagram illustrating the interaction between an arc-shaped rack and a suture needle in a suturing mechanism, as provided in an embodiment of this disclosure. Figure 14 A schematic diagram of the lower surface of an arcuate rack in a sewing mechanism provided for an embodiment of this disclosure. Figure 15 This is a schematic diagram of an unlocking cover in a sewing mechanism provided for an embodiment of the present disclosure. Figure 16 This is a schematic diagram illustrating the installation of an unlocking cover and a mounting component in a sewing mechanism, provided for an embodiment of this disclosure. Figure 17 This is a schematic diagram of a straight rack in a sewing mechanism in the termination position, provided for an embodiment of the present disclosure. Figure 18 This is a schematic diagram of a suture needle being driven in a suture mechanism provided for an embodiment of the present disclosure.

[0097] like Figures 3 to 9 As shown, an embodiment of this disclosure provides a suture mechanism 900 including: a suture assembly 950 and a suture transmission assembly 960. The suture assembly 950 includes a suture needle 951, and the suture transmission assembly 960 is configured to drive the suture needle 951. The suture mechanism 900 has a proximal end and a distal end. The proximal end of the suture mechanism 900 is the power input end of the suture transmission assembly 960, which is configured to receive power and transmit power to drive the suture needle 951. The suture transmission assembly 960 includes multiple components, and any two adjacent components that are connected by a transmission are connected by a gear transmission.

[0098] In the suture mechanism 900 and suture transmission assembly 960 provided in the embodiments of this disclosure, any two adjacent components that are connected by a transmission are connected by a gear transmission. The gear transmission has high precision and can transmit stably when the transmission torque is large, which is beneficial to the suture operation of the suture structure and improves the stability of the suture operation.

[0099] Figures 7 to 9A suture drive tube 9701 is shown. The suture drive tube 9701 is connected to a suture drive assembly 960 to provide power to the suture drive assembly 960. The suture drive tube 9701 includes a drive shaft, for example, a steel wire, which can be driven manually or electrically. The drive shaft is connected to the suture drive assembly 960 at the proximal end of the suture mechanism to provide power to the suture drive assembly 960.

[0100] Although the steel wire has a certain degree of rigidity, it may still bend and deform when moving forward, leading to unstable driving.

[0101] like Figures 1 to 9 As shown, embodiments of this disclosure also provide a stitching mechanism 900 configured to assemble a probe tip 930 and including a stitching body 990. For example, the stitching body 990 includes a base 910 and a stitching structure. The base 910 includes a base body 911, which is generally along a plane (e.g., Figure 7 The plane P shown extends and has a thickness direction perpendicular to the plane P (e.g., Figure 3 As shown in the X direction), the base body 911 includes a first side S1 and a second side S2 that are opposite to each other in the thickness direction X. In the thickness direction X, the first side S1 is closer to the probe head 930, and the second side S2 is farther away from the probe head 930. The base 910 also includes a probe head receiving groove (e.g., for assembling the probe head 930) formed on the first side S1 of the base body 911. Figure 3 The accommodating portion 940 shown in the figure and the suture drive accommodating groove 980 formed on the second side S2 of the base body 911 for accommodating the suture drive assembly 960. The suture structure is provided on the second side S2 of the base body 911 and is configured to perform suture operations. The suture structure includes a suture assembly 950 and a suture drive assembly 960 for driving the suture assembly 950.

[0102] like Figure 21A and Figure 21B As shown, in the embodiments of this disclosure, the sewing mechanism 900, the receiving portion 940, and the sewing drive receiving groove 980 are arranged opposite to each other in the thickness direction X, and the orthographic projection of the receiving portion 940 on plane P and the orthographic projection of the sewing drive receiving groove 980 on plane P overlap each other in the thickness direction X (e.g., Figure 21A The overlapping area 302 is shown. In this way, the probe tip 930 is embedded in the receiving portion 940 in the thickness direction X and overlaps with a relatively thin area of ​​the base body 911 (i.e., the area where the stitching drive receiving groove 980 is located), ensuring that the width of the stitching mechanism 900 in the thickness direction X is small. Furthermore, in some technologies, the orthographic projection of the receiving portion 940 on plane P and the orthographic projection of the stitching drive receiving groove 980 on plane P do not overlap in the thickness direction X, which increases the axial (e.g.,) width of the base body 911. Figure 3 The increased length in the Z direction (as shown in the diagram) further increases the total length of the suture mechanism in the Z-axis, hindering its flexible movement within the tissue and affecting the suture effect. In this embodiment, the above-described configuration ensures that the probe can better observe the suture effect while maintaining a relatively small overall size of the suture mechanism.

[0103] For example, such as Figure 21B As shown, the base body 911 has a different thickness corresponding to the receiving portion 940. The base body 911 includes a first portion 304 corresponding to the bottom of the receiving portion 940 and a second portion 306 corresponding to the sidewall of the receiving portion 940, wherein the thickness of the first portion 304 is less than the thickness of the second portion 306. In the thickness direction X, the first portion 304 is directly opposite the gear receiving portion 9103, that is, the orthographic projection of the first portion 304 on the plane P overlaps with the orthographic projection of the gear receiving portion 9103 on the plane P. In this way, the width of the sewing mechanism 900 in the thickness direction X can be further ensured.

[0104] For example, the sewing drive assembly 960 includes a driving member and a driven member, such as... Figure 4 As shown, the stitching transmission receiving groove 980 includes a first driving element receiving groove G11 and a first driven element receiving groove G21, which facilitates the respectively accommodating the linear rack 961 and the gear set 962. Furthermore, the depth of the first driving element receiving groove G11 is greater than the depth of the first driven element receiving groove G21. By making the first driving element receiving groove G11 deeper, the space in the base body 911 for accommodating the driving element (e.g., the linear rack 961) can be increased.

[0105] For example, the suture assembly includes a suture needle connected to a follower, and an actuator drives the suture needle to rotate via the follower. The follower is movably accommodated in a first follower accommodating groove G21, thus providing accommodating space for the follower while driving the suture needle. For example, a probe head accommodating groove (e.g., accommodating portion 940) is arranged opposite to the first follower accommodating groove G21 in the thickness direction X.

[0106] For example, the suturing mechanism provided in the embodiments of this disclosure further includes a driving member, an active member connected to a driven member, a driven member connected to the driving member, and the driving member connected to the suturing assembly 950. The active member is configured to drive the suturing assembly 950 to move via the driven member and the driving member. For example, the active member includes a linear rack 961, the driven member includes a gear set 962, and the linear rack 961 is connected to the gear set 962. The movement of the linear rack 961 can drive the rotation of the gear set 962. For example, the driving member includes an arc-shaped rack 963 (e.g., Figure 8 and Figure 17(As shown). A linear rack 961 is connected to a gear set 962, which in turn is connected to an arc-shaped rack 963. The linear rack 961 drives the suture assembly 950 through the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the drive assembly 950 during the suture operation. Further, for example, the arc-shaped rack 963 is configured to rotate the suture needle 951, causing the suture needle 951 to perform the suture operation.

[0107] For example, the transmission between any two adjacent components (driving, driven, and servo components) that are connected by a gear mechanism is a toothed transmission. For instance, the driving component may include a linear rack, the driven component a gear set, and the servo component a curved rack; the gear set is rotatably housed in a first driven component receiving slot. This provides space for the gear set while simultaneously driving the sewing needle.

[0108] For example, in the suturing mechanism provided in the embodiments of this disclosure, such as Figure 8 and Figure 17 As shown, the linear rack 961 is configured to reciprocate, and the linear rack 961 is configured to disengage the arc-shaped rack 963 from the suture needle 951 during movement from the proximal to the distal direction (e.g., Figure 8 As shown), the linear rack 961 is configured to cause the arcuate rack 963 to drive the suture needle 951 to rotate to perform a suturing operation when moved from the distal to the proximal direction (as shown). Figure 17 (As shown).

[0109] like Figure 17 and Figure 18 As shown, suture needle 951 rotates clockwise. The direction perpendicular to the paper is the axis of rotation of the suture needle. Suture needle 951 always rotates in one direction. Figure 17 and Figure 18 Taking clockwise rotation as an example, the arc-shaped rack 963 can rotate both clockwise and counterclockwise.

[0110] For example, such as Figure 8 and Figure 17 As shown, the linear rack 961 is configured to drive the arc-shaped rack 963 to reciprocate between a first position and a second position. When the linear rack 961 is in the initial position, the arc-shaped rack 963 is in the first position (e.g., ...). Figure 8 As shown), when the straight rack 961 is in the termination position, the arc-shaped rack 963 is in the second position (as shown). Figure 17(As shown). The linear rack 961 moves between an initial position and an ending position. In response to the linear rack 961 moving from the initial position to the ending position, the arc-shaped rack 963 moves from a first position to a second position to drive the suture needle 951 for a single drive stroke. For example, the rotation angle of the suture needle 951 in a single drive stroke is 360° divided into n equal parts, where n is an integer greater than or equal to 1. An embodiment of this disclosure uses a rotation angle of 90° for the suture needle 951 in a single drive stroke as an example. That is, to complete a sequential suturing operation, the suture needle 951 rotates four times. From Figure 17 The position of the suture needle 951 shown is... Figure 18 The position of the suture needle shown indicates the completion of a single drive stroke of suture needle 951.

[0111] like Figure 17 and Figure 18 As shown, the steel wire in the suture transmission tube 9701 is pulled backward, causing the linear rack 961 to move from right to left. The linear rack 961 moves from the end position back to the starting position. Correspondingly, the arc rack 963 moves from the second position back to the first position, driving the suture needle 951 to perform the suture operation. The driving effect is better when the steel wire is pulled backward, making the driving of the suture needle more stable.

[0112] like Figure 8 , Figure 17 and Figure 18 As shown, the suture needle 951 rotates 90°. In the same way that the arc-shaped rack 963 drives the suture needle 951 as described above, the arc-shaped rack 963 can drive the suture needle 951 to rotate 4 times 90°, thereby completing the operation of suturing one stitch with the suture needle 951.

[0113] like Figures 1 to 9 As shown, the front end of the suture mechanism 900 extends beyond the probe tip 930 to facilitate tissue suturing. The front end of the suture mechanism 900 is the distal end of the suture mechanism 900, and the other end of the suture mechanism 900 ( Figure 1 and Figure 2 The end where the strap 430 is shown is its proximal end.

[0114] For example, such as Figure 3 , Figures 7 to 9 As shown, the suture transmission assembly 960 includes a straight rack 961 near the proximal end, an arcuate rack 963 near the distal end, and a gear set 962 located between the arcuate rack 963 and the straight rack 961; the straight rack 961 is movable to drive the gear set 962 to rotate, which in turn drives the arcuate rack 963 to rotate. The arcuate rack 963 of the suture transmission assembly 960 is configured to drive the suture needle 951 to rotate, so that the suture needle 951 performs the suture operation.

[0115] The suture mechanism 900 provided in the embodiments of this disclosure includes a suture transmission assembly 960 comprising a linear rack 961, an arc-shaped rack 963, and a gear set 962 located between the arc-shaped rack 963 and the linear rack 961. High-precision and stable power transmission is achieved through the cooperation of the linear racks 961 and arc-shaped racks 963 at both ends with the gear set 962 in the middle.

[0116] For example, such as Figure 3 , Figures 10 to 12 As shown, the arc-shaped rack 963 has a drive pin 9631 and an elastic element 9632. The drive pin 9631 protrudes from the surface of the arc-shaped rack 963, and the elastic element 9632 is configured to allow the drive pin 9631 to move axially along the drive pin 9631 to form a telescopic drive structure. The axial direction of the drive pin 9631 can refer to the direction in which the drive pin 9631 extends. Figure 11 The drive pin 9631 shown is vertical in axis, and a portion of the drive pin 9631 protrudes from the arc-shaped rack 963. An elastic element 9632 can be disposed in the groove of the arc-shaped rack 963. By providing the drive pin 9631 and the elastic element 9632, the drive pin 9631 can abut against the suture needle 951, causing the arc-shaped rack 963 to drive the suture needle 951, and the drive pin 9631 can be compressed so that it no longer abuts against the suture needle 951, thus separating the arc-shaped rack 963 and the suture needle 951. Figure 13 This means that the drive pin 9631 is in the state of holding the suture needle 951, and when the arc-shaped rack 963 moves clockwise, it drives the suture needle 951 to move clockwise. Figure 13 The arrow shown indicates a clockwise direction. When the arc-shaped rack 963 moves counterclockwise, the drive pin 9631 is compressed and can be separated from the suture needle. The drive pin 9631 is normally extended, that is, protruding from the arc-shaped rack 963.

[0117] For example, such as Figure 12 and Figure 13 As shown, the suture needle 951 is provided with a drive groove 9510, which is located on the side of the suture needle 951 facing the arc-shaped rack 963. The drive groove 9510 is configured to accommodate a drive pin 9631. The drive pin 9631 is located in the drive groove 9510 to abut against the suture needle 951, thereby driving the suture needle 951 to move.

[0118] For example, such as Figure 12 and Figure 13 As shown, the drive groove 9510 has a first inclined wall W1, which is axially inclined relative to the drive pin 9631. The first inclined wall W1 is configured to compress the elastic element 9632 when the arcuate rack 963 moves and drives the drive pin 9631 through this area, so that the drive pin 9631 moves toward the direction close to the arcuate rack 963. Figure 13As shown, when the arc-shaped rack 963 moves counterclockwise, when the drive pin 9631 moves to the first inclined wall W1, the drive pin 9631 compresses the elastic element 9632 under the action of the first inclined wall W1, and then drives the drive pin 9631 to move downward, thereby disengaging from the drive groove 9510, so that the arc-shaped rack 963 and the sewing needle 951 separate.

[0119] For example, such as Figure 12 and Figure 13 As shown, the drive groove 9510 also has a first abutment wall W2, which is configured to abut against the side of the drive pin 9631 so that the arc-shaped rack 963 drives the suture needle 951 to move. Figure 13 The first abutting wall W2 is shown to abut against the side of the drive pin 9631, thereby driving the sewing needle 951 to move clockwise when the arc-shaped rack 963 moves clockwise.

[0120] For example, such as Figure 12 and Figure 13 As shown, the first abutment wall W2 is parallel to the axial direction of the drive pin 9631 to increase the contact area between the first abutment wall W2 and the drive pin 9631. For example, the first abutment wall W2 can extend vertically and be a vertical wall.

[0121] For example, such as Figure 12 and Figure 13 As shown, in order to facilitate the disengagement of the arc-shaped rack 963 from the suture needle 951, the bottom end of the first inclined wall W1 is closer to the first abutting wall W2 than the top end of the first inclined wall W1.

[0122] For example, such as Figure 12 and Figure 13 As shown, the drive groove 9510 also has a first bottom wall W3, and the first abutting wall W2 is connected to the first inclined wall W1 through the first bottom wall W3. The first bottom wall W3 is provided to accommodate the top of the drive pin 9631.

[0123] For example, such as Figure 12 and Figure 13 As shown, in order to better accommodate the top of the drive pin 9631, the size of the first bottom wall W3 is larger than the size of the top surface of the drive pin 9631.

[0124] For example, such as Figure 12 and Figure 13 As shown, to improve the stability of the suture needle drive, the suture needle 951 is provided with at least two drive grooves 9510, and the arc-shaped rack 963 is provided with at least two drive pins 9631. The central angle of two adjacent drive grooves 9510 is equal to the central angle of two adjacent drive pins 9631. The drive grooves 9510 and drive pins 9631 are correspondingly arranged.

[0125] For example, such as Figure 12 and Figure 13As shown, the suture needle 951 has two drive grooves 9510, and the arc-shaped rack 963 has two drive pins 9631. The central angle of the two drive grooves 9510 is 90°, and the central angle of the two drive pins 9631 is 90°. Due to the viewing angle, Figure 12 and Figure 13 Another drive groove 9510 is not shown, which is located at the corresponding position of the unmarked drive pin on the sewing needle 951.

[0126] For example, such as Figure 3 , Figure 8 and Figure 9 As shown, the suture assembly 950 also includes a backstop 952, and the suture needle 951 further has a backstop groove 9512 located on the outer surface of the suture needle 951. The backstop 952 is configured to abut against the suture needle 951 at the backstop groove 9512 to prevent the suture needle 951 from retracting, i.e., to prevent the suture needle 951 from retracting in the opposite direction of the drive. The suture needle 951 makes a circular motion in one direction to achieve tissue suturing. The arcuate rack 963 separates from the suture needle 951 to... Figure 8 When the needle 951 moves to the lower position, a stopper 952 is used to stabilize the needle 951 and prevent it from retracting. When the needle 951 rotates clockwise, the stopper 952 disengages from the stopper groove 9512 through the first inclined wall W1; when the needle 951 rotates counterclockwise, the first abutting wall W2 abuts against the stopper 952, preventing the needle 951 from moving in the opposite direction.

[0127] For example, Figure 8 , Figure 17 and Figure 18 As shown, the suture drive assembly 960 includes a needle drive member configured to perform a reciprocating motion, the reciprocating motion including a driving motion and a retracting motion. When the needle drive member performs the driving motion, the needle drive member performs the retracting motion, and when the needle drive member performs the retracting motion, the stop member 952 is configured to abut against the suture needle 951 at the stop groove 9512 to prevent the suture needle 951 from retracting in the opposite direction of the driving motion.

[0128] The needle drive refers to the arc-shaped rack 963. The needle drive is configured to perform reciprocating motion, meaning that the arc-shaped rack 963 reciprocates between a first position and a second position. Figure 8 and Figure 18 The position of the arc-shaped rack 963 shown is the first position. Figure 17 The position of the arc-shaped rack 963 shown is the second position.

[0129] like Figure 8 , Figure 17 and Figure 18As shown, the linear rack 961 drives the arcuate rack 963 to reciprocate through the gear set 962. In response to the linear rack 961 moving proximally, the arcuate rack 963 rotates in a first direction, driving the suture needle 951 to rotate. In response to the linear rack 961 moving distally, the arcuate rack 963 rotates in a second direction, while the suture needle 951 remains in position. The first and second directions are opposite. For example, as... Figure 8 , Figure 17 and Figure 18 As shown, the first direction is clockwise and the second direction is counterclockwise.

[0130] The linear rack 961 reciprocates between the initial position and the final position. Figure 8 and Figure 18 The position of the linear rack 961 shown is the initial position. Figure 17 The position of the linear rack 961 shown is the termination position.

[0131] The needle drive component performing the drive motion refers to the arc-shaped rack 963 moving from the second position to the first position. For example, the arc-shaped rack 963 moves from... Figure 17 The second position shown moves to Figure 18 The first position is shown. The linear rack 961 starts from... Figure 17 The indicated termination position moves to the left. Figure 18 The initial position shown causes the arc-shaped rack 963 to move from... Figure 17 The second position shown moves to Figure 18 In the first position shown, drive the suture needle 951 to rotate clockwise, for example, drive the suture needle 951 to rotate 90° clockwise.

[0132] The needle drive mechanism performs a retraction motion, meaning the arc-shaped rack 963 moves from the first position to the second position. The linear rack 961 moves to the right from its initial position to its final position, thereby causing the arc-shaped rack 963 to move from the first position to the second position. During this process, the suture needle 951 is held in its original position by the stop member 952 and does not retract. The arc-shaped rack 963 disengages from the suture needle 951 and... Figure 18 The first position shown moves counterclockwise to the second position, which is located below the first position.

[0133] The descriptions of the initial and final positions of the linear rack 961 are for the purpose of distinguishing between two different positions, and can be interchanged or described in other ways.

[0134] For example, such as Figures 3 to 9 As shown, the suture mechanism 900 also includes a cover structure 920 (for example, the suture body 990 also includes a cover structure 920), which is located on one side of the base 910. The base 910 and the cover structure 920 cooperate to form a receiving space to receive the suture assembly 950 and the suture drive assembly 960.

[0135] For example, such as Figure 4 and Figure 5 As shown, the cover structure 920 is disposed along the thickness direction X on the side of the stitching structure away from the base body 911 and is configured to cover the base body 911 to define a receiving space SP with the base body 911. The stitching structure is located in the receiving space SP, which includes a stitching drive receiving groove 980. The cover structure 920 includes a second driving member receiving groove G12 and a second driven member receiving groove G22. The first driving member receiving groove G11 and the second driving member receiving groove G12 together receive a driving member (e.g., a linear rack 961), and the first driven member receiving groove G21 and the second driven member receiving groove G22 together receive a driven member (e.g., a gear set 962). In this embodiment, by having the first driving member receiving groove G11 and the second driving member receiving groove G12 jointly accommodate the linear rack 961, that is, a portion of the linear rack 961 is located in the first driving member receiving groove G11 and the other portion is located in the second driving member receiving groove G12, the thickness of the base and the cover structure in the thickness direction Z can be reduced respectively while ensuring the normal movement of the linear rack 961. Similarly, by having the first driven member receiving groove G21 and the second driven member receiving groove G22 jointly accommodate the gear set 962, that is, a portion of the gear set 962 is located in the first driven member receiving groove G21 and the other portion is located in the second driven member receiving groove G22, the thickness of the base and the cover structure in the thickness direction Z can be reduced respectively while ensuring the normal movement of the gear set 962.

[0136] For example, the base body 911 is configured to be fixedly connected to the cover structure 920, and the fixed connection includes one of welding, screw connection and snap-fit ​​connection.

[0137] For example, such as Figure 9 As shown, the base 910 has a gear receiving portion 9103, that is, the first follower receiving groove G21 is a gear receiving portion 9103, and the cover structure 920 has a gear receiving portion 9203, that is, the second follower receiving groove G22 is a gear receiving portion 9203. The gear receiving portion 9103 and the gear receiving portion 9203 together receive the gear set 962 to reduce the size of the sewing mechanism 900.

[0138] For example, such as Figure 16 As shown, the sewing mechanism 900 also includes a mounting member 964. The sewing transmission assembly 960 is located within the receiving space formed by the base 910 and the cover structure 920. The arc-shaped rack 963 is mounted on the cover structure 920 via the mounting member 964. The arc-shaped rack 963 is rotatably mounted on the cover structure 920 via the mounting member 964, so that the arc-shaped rack 963 is rotatably received within the aforementioned receiving space. The mounting member 964 can be fixed to the cover structure 920 by an interference fit. Figure 2 , Figure 15 and Figure 16 As shown, the arc-shaped rack 963 is mounted on the unlocking cover 921 of the cover structure 920 via a mounting member 964. The mounting member 964 and the cover structure 920 form a mating groove G0, and the mounting member 964 and the cover structure 920 are detachably connected.

[0139] For example, such as Figure 10 As shown, the teeth on the arc-shaped rack 963 are located on the outer side of the arc-shaped rack 963. For example, the arc-shaped rack 963 has a limiting protrusion 9633. For example, the limiting protrusion 9633 is located on the inner side of the arc-shaped rack 963. The limiting protrusion 9633 is provided to facilitate limiting the arc-shaped rack 963 during its movement.

[0140] like Figure 10 As shown, the central angle of the arc rack 963 is greater than 90° and less than or equal to 144°. For example, the central angle of the arc rack 963 is 144°.

[0141] For example, such as Figure 15 As shown, a mating groove G0 is formed between the mounting member 964 and the cover structure 920, and the mating groove G0 is configured to accommodate the limiting protrusion 9633. Figure 15 As shown, a mating groove G0 is formed between the mounting member 964 and the cover structure 920. A limiting protrusion 9633 is confined within the mating groove G0 and can slide within it. That is, the limiting protrusion 9633 is movably disposed within the mating groove G0. The mating groove G0 defines the movement space of the arc-shaped rack 963, which can move between its two ends. The mating groove G0 restricts the offset of the arc-shaped rack 963, as well as its direction and distance of movement. The mating groove G0 restricts the movement of the arc-shaped rack 963 in a direction perpendicular to its plane of movement.

[0142] For example, such as Figure 10 and Figure 15 As shown, the dimension of the limiting protrusion 9633 along the moving direction of the arc-shaped rack 963 is smaller than the dimension of the mating groove G0 along the moving direction of the arc-shaped rack 963, so as to facilitate the movement of the arc-shaped rack 963 between the first position and the second position. In the moving direction of the arc-shaped rack 963, the dimension of the arc-shaped rack 963 is larger than the dimension of the limiting protrusion 9633.

[0143] For example, the linear rack 961 includes teeth, and one of the linear rack 961 and the base body 911 includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, and the guide portion is configured to be movable within the guide groove. For example, as Figure 9As shown, the linear rack 961 includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611. The base 910 has a base body 911, which is provided with a guide groove 912 for accommodating the guide portion 9611. The guide groove 912 is configured to guide the guide portion 9611 to move along the extension direction of the guide groove 912, thereby driving the toothed portion 9612 to move in the same direction. The guide portion 9611 plays a guiding role during the movement of the linear rack 961, which helps to improve the stability of the movement. For example, the first driving member receiving groove G11 is the guide groove 912.

[0144] For example, such as Figure 9 As shown, the guide groove 912 is fitted with the guide part 9611, which can guide the movement direction of the linear rack 961 and limit the movement distance of the linear rack 961.

[0145] For example, such as Figure 9 As shown, the gear set 962 includes a drive gear 9620. A toothed portion 9612 engages with the drive gear 9620 in the gear set 962, so that when the toothed portion 9612 moves along the extension direction of the guide groove 912, it drives the drive gear 9620 to rotate. A gear shaft 9624 is provided on the base 910. The drive gear 9620 is mounted on the gear shaft 9624 and can rotate around the gear shaft 9624.

[0146] For example, such as Figure 9 As shown, the gear set 962 also includes a transmission gear 9622, which is disposed between the drive gear 9620 and the arc-shaped rack 963 and configured to mesh with both the drive gear 9620 and the arc-shaped rack 963 respectively. This allows the rotation of the drive gear 9620 to drive the transmission gear 9622 to rotate, which in turn drives the arc-shaped rack 963 to rotate. The transmission gear 9622 facilitates the adjustment of the movement direction of the arc-shaped rack 963. The axial direction Z of the sewing mechanism 900 is the extension direction of the central axis of the sewing mechanism 900, which can be either from the proximal end to the distal end or from the distal end to the proximal end.

[0147] For example, such as Figures 7 to 9 As shown, the transmission gear 9622 includes a first transmission gear GR1 and a second transmission gear GR2 disposed between the drive gear 9620 and the arc-shaped rack 963. The first transmission gear GR1 is close to the drive gear 9620, and the second transmission gear GR2 is close to the arc-shaped rack 963. The first transmission gear GR1 meshes with both the drive gear 9620 and the second transmission gear GR2, so that the rotation of the drive gear 9620 drives the first transmission gear GR1 to rotate, which in turn drives the second transmission gear GR2 to rotate. The second transmission gear GR2 meshes with the arc-shaped rack 963, so that the rotation of the first transmission gear GR1 drives the second transmission gear GR2 to rotate, which in turn drives the arc-shaped rack 963 to rotate. Figure 7 and Figure 9 As shown, a gear shaft 9625 is provided on the base 910, and a first transmission gear GR1 is mounted on the gear shaft 9625 and can rotate around the gear shaft 9625. Figure 7 and Figure 9 As shown, a gear shaft 9626 is provided on the base 910, and the second transmission gear GR2 is mounted on the gear shaft 9626 and can rotate around the gear shaft 9626.

[0148] For example, such as Figures 7 to 9 As shown, the rotation center of the drive gear 9620, the rotation center of the first transmission gear GR1, and the rotation center of the second transmission gear GR2 are on the same straight line, which helps to improve the stability of the transmission.

[0149] For example, such as Figure 9 As shown, the base 910 has a needle receiving groove 917 for accommodating a suture needle 951.

[0150] For example, such as Figure 9 As shown, the base body 911 is also provided with a first driving member receiving groove G31, and the cover structure 920 is also provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 jointly accommodate the driving member, that is, jointly accommodate the arc-shaped rack 963. In this way, a part of the arc-shaped rack 963 is located in the first driving member receiving groove G31, and another part is located in the second driving member receiving groove G32, thereby reducing the thickness of the base and the cover structure in the thickness direction Z respectively while ensuring the normal movement of the arc-shaped rack 963.

[0151] For example, such as Figure 9 and Figure 29As shown, the base 910 has an arc-shaped rack receiving groove 915, that is, the first drive member receiving groove G31 is an arc-shaped rack receiving groove 915, and the cover structure 920 has an arc-shaped rack receiving groove 925, that is, the second drive member receiving groove G32 is a gear receiving part 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate the arc-shaped rack 963. The arc-shaped rack 963 is movably fixedly connected to the cover structure 920. After the base 910 and the cover structure 920 are fastened together, a part of the arc-shaped rack 963 enters the arc-shaped rack receiving groove 915. During installation, the suture needle 951 is placed in the needle receiving groove 917, and then the base 910 and the cover structure 920 are fastened together. The arc-shaped rack 963 presses against the suture needle 951 so that the suture needle 951 is located between the groove wall of the needle receiving groove 917 and the arc-shaped rack 963. That is, one side of the suture needle 951 is the groove wall of the needle receiving groove 917, and the other side is the arc-shaped toothed rack 963, so as to prevent the suture needle 951 from shaking. Here, the "groove wall" is the bottom surface of the needle receiving groove 917. By positioning the suture needle 951 between the bottom surface of the needle receiving groove 917 and the arc-shaped toothed rack 963 and being held in place by the arc-shaped toothed rack 963, the stability of the suture needle 951 can be improved.

[0152] For example, such as Figure 9 As shown, a portion of the arc-shaped rack 963 is housed in the arc-shaped rack receiving groove 925 of the cover structure 920, and another portion is housed in the arc-shaped rack receiving groove 915 of the base 910. The groove formed by the arc-shaped rack receiving groove 925 and the arc-shaped rack receiving groove 915 is annular, which restricts the suture needle 951 and the arc-shaped rack 963 to move only in the circumferential direction.

[0153] During assembly, first place the arc-shaped rack 963 into the arc-shaped rack receiving groove 925 of the cover structure 920, and then install the mounting part 964 onto the cover structure 920. Place the gear set 962, the linear rack 961, and the sewing needle 951 into the corresponding grooves of the base, and then fasten and lock the base 910 and the cover structure 920 together.

[0154] For example, such as Figure 9 As shown, the base 910 has a retaining member receiving groove 916 for receiving a retaining member 952.

[0155] like Figure 9 As shown, the base 910 has two anti-retraction member receiving grooves 916, and an anti-retraction member 952 is provided in each anti-retraction member receiving groove 916, which is beneficial to realize the anti-retraction of the suture needle 951 at each stage of the suturing process.

[0156] For example, cover structure 920 includes cover body 923 and cover portion, the cover portion including slider 922 and unlock cover 921. Figure 6 and Figure 9 The cover body 923 is shown. Figure 6 The slider 922 and the unlocking cover 921 are shown. The unlocking cover 921 is rotatably mounted on the cover body 923. The slider 922 and the unlocking cover 921 are connected in a mating manner.

[0157] For example, such as Figure 23A and Figure 23B As shown, the slider 922 is slidably connected to the cover body 923. The cover also includes a sliding engagement structure, which is disposed between the cover body 923 and the slider 922 to maintain the relative positions of the cover body 923 and the slider 922 in the thickness direction X of the cover body 923. For example, the sliding engagement structure includes a first engaging member 311 and a second engaging member 312. The first engaging member 311 is disposed on the slider 922, and the second engaging member 312 is disposed on the cover body 923. The second engaging member 312 and the first engaging member 311 engage with each other. For example, the sliding engagement structure also includes a first engaging member 321 and a second engaging member 322. The first engaging member 321 is disposed on the slider 922, and the second engaging member 322 is disposed on the cover body 923. The second engaging member 322 and the first engaging member 321 engage with each other.

[0158] For example, such as Figure 24 As shown, the cover body 923 also includes a protrusion 331, and the slider 922 is provided with a groove 332. The protrusion 331 is configured to be embedded in the groove 332 to maintain the relative position of the slider 922 and the cover body 923 in the axial direction Z, and to prevent the slider 922 and the cover body 923 from being loosened in the axial direction.

[0159] For example, the suture body 990 extends along the axial direction Z, and has a length along the axial direction Z and a width in the thickness direction X perpendicular to the axial direction Z. The length is 20-60 mm, and the width is 10-25 mm, so that the overall size of the suture body 990 is small, thereby allowing the suture mechanism 900 to pass smoothly through the esophagus and avoiding damage to the patient's esophagus. By setting the above length, the overall length of the suture body is also small, which reduces the restriction on the movement of the probe tip and makes the overall movement of the probe tip and the suture mechanism 900 more flexible.

[0160] For example, the cover body 923 and the base body 911 extend generally parallel to each other. The cover body 923 includes a third side S3 and a fourth side S4 that are opposite to each other in its thickness direction X. The third side S3 faces the base body 911, and the fourth side S4 faces away from the base body 911. A cover portion is disposed on the fourth side S4 of the cover body 923 and is configured to cover the cover body 923 to define a gripper receiving space SQ between the cover body 923 and the cover portion. By providing the gripper receiving space SQ, it is advantageous to accommodate gripping components to achieve an auxiliary sewing function.

[0161] Figure 19A schematic diagram of a sewing drive assembly in a sewing mechanism provided for another embodiment of this disclosure. For example, as... Figure 19 As shown, the rotation center of the drive gear 9620, the rotation center of the first transmission gear GR1, and the rotation center of the second transmission gear GR2 are not on the same straight line, so as to reduce the axial dimension of the sewing mechanism 900.

[0162] Figure 20 A schematic diagram of a sewing drive assembly in a sewing mechanism provided for another embodiment of this disclosure. For example, as... Figure 20 As shown, the gear set 962 also includes a transmission gear 9622, which is coaxially arranged with the drive gear 9620. The transmission gear 9622 and the arc rack 963 mesh with each other so that the rotation of the drive gear 9620 drives the transmission gear 9622 to rotate, which in turn drives the arc rack 963 to rotate.

[0163] The transmission gear 9622 is a speed-changing gear coaxially arranged with the drive gear 9620. The module of the speed-changing gear is greater than that of the drive gear 9620, so as to improve the drive ratio of the linear rack 961 to the arc rack 963. Figure 8 The suture mechanism shown and Figure 20 Compared to the stitching mechanism shown, when driving the arc-shaped rack 963 to rotate the same angle, Figure 20 The linear rack 961 shown has a shorter movement distance, thereby reducing the length of the linear rack 961 and the movement length, and reducing the length of the sewing mechanism 900 (working head).

[0164] Since the suture mechanism 900 is fixedly connected to the front end of the probe tip 930, the smaller the length of the suture mechanism 900, the less it restricts the movement of the probe tip 930 (e.g., a gastroscope).

[0165] For example, such as Figures 7 to 9 ,as well as Figure 19 As shown, gear set 962 and arc rack 963 rotate in the same plane.

[0166] For example, such as Figure 20 As shown, gear set 962 and arc rack 963 rotate in mutually parallel planes.

[0167] For example, the suturing mechanism 900 also includes an auxiliary suturing structure, which includes a gripping member disposed in a gripper receiving space SQ between the cover body 923 and the cover portion and configured to move in a direction parallel to the axis Z to perform a gripping operation, the axis Z being parallel to the extension direction of the probe head 930. For example, the gripping member includes the spiral gripper 200 mentioned below.

[0168] like Figure 6 , Figure 8 , Figure 19 , Figure 20 As shown, the suturing mechanism 900 also includes a spiral gripper 200. The spiral gripper 200 can be used to grip tissue to an opening at the front end of the suturing mechanism 900 so that the suture needle 951 can suture the tissue.

[0169] like Figure 6 and Figure 25 As shown, the cover body 923 also includes a first gripper receiving groove G41, and the cover portion includes a second gripper receiving groove G42. The first gripper receiving groove G41 and the second gripper receiving groove G42 together accommodate the spiral gripper 200. In this embodiment of the present disclosure, by having the first gripper receiving groove G41 and the second gripper receiving groove G42 jointly accommodate the spiral gripper 200, that is, a part of the spiral gripper 200 is located in the first gripper receiving groove G41 and another part is located in the second gripper receiving groove G42, the internal capacity of the cover structure can be improved without affecting the normal movement of the spiral gripper 200.

[0170] like Figure 2 , Figure 5 , Figure 6 , Figure 22 As shown, the probe tip 930 is positioned along a third axis A3 parallel to the Z-axis. The spiral gripper 200 is positioned along a fourth axis A4 parallel to the Z-axis. The receiving portion 940 is positioned along a first axis A1 parallel to or coaxial with the third axis A3. The cover structure 920 has a gripping channel 300 configured to receive the spiral gripper 200, the gripping channel 300 being positioned along a second axis A2 parallel to or coaxial with the fourth axis A4 of the spiral gripper 200. By providing the gripping channel 300, an independent movement space is provided for the gripping component, thereby allowing the gripping component to grasp the tissue before the suture needle performs the suturing operation. Figure 8 As shown, the suture needle 951 is a circular suture needle that rotates around a rotation center O. The first axis A1 and the second axis A2 are set to be coplanar, and the rotation center O of the suture needle 951 lies within this coplanar plane. By making the rotation center O of the circular suture needle, the first axis A1 of the receiving portion 940, and the second axis A2 of the gripping channel 300 coplanar, the gripping and suturing effect can be improved. In at least some embodiments of this disclosure, the first axis A1 is the central axis of the receiving portion 940, the second axis A2 is the central axis of the gripping channel 300, the third axis A3 is the central axis of the probe head 930, and the fourth axis A4 is the central axis of the spiral gripper 200.

[0171] Figures 7 to 9A helical gripping drive tube 9702 is shown. The helical gripping drive tube 9702 is connected to the helical gripper 200 and is used to transmit power to drive the helical gripper 200. The helical gripping drive tube 9702 includes a drive flexible shaft comprising steel wire, which can be driven manually or electrically.

[0172] Figure 26 An exploded view of a suturing mechanism provided for an embodiment of this disclosure. (As shown) Figures 1 to 26 As shown, embodiments of this disclosure also provide a suturing mechanism 900 configured to assemble a probe tip 930 and including a suturing body 990. The suturing body 990 includes a base 910, an auxiliary suturing structure, and a suturing structure. The base 910 includes a base body 911 extending generally along a plane P and having a thickness direction X perpendicular to the plane P. The base body 911 includes a first side S1 and a second side S2 opposite to each other in its thickness direction X. The probe tip 930 is assembled on the first side S1 of the base body 911 and disposed along a third axis A3 parallel to the axial direction Z, which is parallel to the extension direction of the probe tip 930. The auxiliary suturing structure is disposed on the second side S2 of the base body 911 and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping member configured along a fourth axis A4 parallel to the axial direction Z. For example, the gripping member includes a spiral gripper 200. A suture structure is disposed along the thickness direction X between the probe head 930 and the auxiliary suture structure and is configured to perform a suture operation. The suture structure includes a circular suture needle (e.g., suture needle 951) that rotates about a rotation center O in a plane perpendicular to the thickness direction X. For example, the circular suture needle rotates about the rotation center O in a plane perpendicular to the thickness direction X and parallel to the axial direction Z. The third axis A3 and the fourth axis A4 are configured to be coplanar, and the rotation center O of the suture needle 951 is located in this coplanar plane. In the suture mechanism 900 provided in the above-described embodiment of the present disclosure, by configuring the third axis A3 and the fourth axis A4 to be coplanar and the rotation center O of the suture needle 951 to be located in this coplanar plane, a better gripping and suture effect can be achieved.

[0173] For example, such as Figure 26As shown, the rotation center O of the annular suture needle, the center O1 of the probe tip 930 (e.g., the center point on the end face of the probe tip), and the center O2 of the spiral gripper 200 (e.g., the spiral center of the spiral gripper 200) are set to be coplanar, allowing for concentrated gripping, suturing, and observation of the same target area. This improves the accuracy of the suturing mechanism 900 in gripping, suturing, and observation while ensuring good gripping and suturing effects. Furthermore, the center O2 of the spiral gripper 200 and the rotation center O of the annular suture needle are approximately at the same height, which better facilitates tissue gripping. This is because if the center O2 of the spiral gripper 200 is higher or lower than the rotation center O, the spiral gripper 200 may interact with the protrusions on the upper and lower sides of the cap structure (…). Figure 26 The tissue (circled area) is squeezed together, making effective grasping impossible.

[0174] For example, the base 910 also includes a receiving portion 940 disposed on the first side S1 of the base body 911. The receiving portion 940 is configured to receive the probe head 930 and is disposed along a first axis A1 parallel to or coaxial with the third axis A3 of the probe head 930. Figure 26 (The two structures are coaxially arranged). The sewing mechanism 900 also includes a cover structure 920, which is disposed along the thickness direction X on the side of the sewing structure away from the base body 911. The cover structure 920 has a gripping channel 300 configured to accommodate a gripping member. The gripping channel 300 has a second axis A2 that is parallel to or coaxial with the fourth axis A4 of the gripping member. Figure 26 (The axes are set to be coaxial). The first axis A1 and the second axis A2 are set to be coplanar, and the rotation center O of the suture needle 951 is located within this coplanar plane. This setting further ensures a better grasping and suturing effect.

[0175] Figure 27A This is a schematic diagram of a suturing mechanism provided for an embodiment of the present disclosure. Figure 27B for Figure 27A An exploded view of the suture mechanism. (See diagram below.) Figure 27A and Figure 27B As shown, the width wd1 of the cover structure 920 along the thickness direction X is 4.2–7.8 mm. This reduces the overall thickness of the suture body 990 in the thickness direction X. For example, at least a portion of the suture body 990 has an arcuate outer surface 340, which includes a portion of the outer surface 341 of the cover structure 920 and a portion of the outer surface 342 of the base 910. The cross-section of this arcuate outer surface perpendicular to the axial direction Z (i.e., in the plane shown in FIG. 27) is an outer arc. That is, the cross-sectional shape of the arcuate outer surface is arcuate. With the above arrangement, it is possible to prevent the suture mechanism from scratching the tissue during movement, making its movement smoother. Further, the diameter of the outer arc ( Figure 27AThe radius R is shown as equal to the width WD of the stitched body.

[0176] refer to Figures 1 to 9 For example, the suture structure also includes a suture drive assembly 960, which includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the annular suture needle. The active member is configured to drive the annular suture needle to move via the driven member and the driving member. For example, the active member includes a linear rack 961, the driven member includes a gear set 962, and the linear rack 961 is connected to the gear set 962. The movement of the linear rack 961 drives the rotation of the gear set 962. The driving member includes an arc-shaped rack 963, and the gear set 962 is connected to the arc-shaped rack 963. The linear rack 961 drives the suture assembly 950 to move via the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the driving assembly 950 during the suture operation.

[0177] For example, the base body 911 is provided with a first follower receiving groove G21, and the cover structure 920 is provided with a second follower receiving groove G22. The first follower receiving groove G21 and the second follower receiving groove G22 together accommodate the follower. The total depth of the first follower receiving groove G21 and the second follower receiving groove G22 is greater than or equal to the width of the follower in the thickness direction X. For example, the first follower receiving groove G21 is a gear receiving part 9103, and the second follower receiving groove G22 is a gear receiving part 9203. The gear receiving part 9103 and the gear receiving part 9203 together accommodate the gear set 962 to reduce the size of the sewing mechanism 900 in the thickness direction X. The total depth of gear receiving portion 9103 and gear receiving portion 9203 (i.e., the sum of the depths of gear receiving portion 9103 and gear receiving portion 9203) is greater than or equal to the width of gear set 962 in the thickness direction X, to ensure that gear set 962 is completely covered by the two receiving grooves and is not exposed. Further, for example, the depth of gear receiving portion 9103 is 0.35–1 mm, the depth of gear receiving portion 9203 is 0.35–1 mm, and the width of the follower in the thickness direction X is 0.7–1.5 mm. In this embodiment of the present disclosure, the gear receiving portion 9103 and gear receiving portion 9203 having the same depth is used as an example. It is understood that in other embodiments of the present disclosure, their depths may be different, and the present disclosure does not limit this.

[0178] For example, the driving element includes a linear rack 961, which includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611. The base body 911 is provided with a first driving element receiving groove G11, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving element receiving groove G11 can be a guide groove 912, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. This allows the guide portion 9611 to be completely accommodated within the guide groove 912, preventing it from coming out. Further, for example, the depth of the guide groove 912 is 1.05 to 1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05 to 1.95 mm.

[0179] For example, the base body 911 is provided with a first driving member receiving groove G31, and the cover structure 920 is provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 together accommodate the driving member; the total depth of the first driving member receiving groove G31 and the second driving member receiving groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member receiving groove G31 is an arc-shaped rack receiving groove 915, and the second driving member receiving groove G32 is a gear receiving part 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate an arc-shaped rack 963; the total depth of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 (i.e., the sum of the depths of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (e.g., ...). Figure 27B (As shown), to ensure that the gear set 962 is completely contained within the two receiving grooves and is not exposed. Further, for example, the depth of the arc-shaped rack receiving groove 915 is 0.3 to 0.8 mm, the depth of the arc-shaped rack receiving groove 925 is 1.1 to 1.8 mm, and the width wd2 of the arc-shaped rack 963 along the thickness direction X is 1.4 to 2.6 mm.

[0180] For example, the driving component includes a linear rack 961, the driven component includes a gear set 962, and the driving component includes an arc-shaped rack 963. The arc-shaped rack 963 meshes with the gear set 962, and the gear set 962 meshes with the linear rack 961. Due to the high precision of the gear transmission, it can stably transmit large transmission torques, which is beneficial for the sewing operation of the sewing structure and improves the stability of the sewing operation.

[0181] For example, in the thickness direction X, the distance from the rotation center O of the circular suture needle to the third axis A3 of the probe tip 930 is shorter than the distance from the fourth axis A4 of the gripping component to the third axis A3 of the probe tip 930. Compared to the spiral gripper 200, the circular suture needle is closer to the probe tip 930, which allows the probe tip 930 to more accurately observe the suturing effect of the circular suture needle. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8–5.2 mm, which allows the probe tip to better observe the suture needle suturing the tissue. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45–4.55 mm, which allows the tissue gripped by the spiral gripper 200 to be closer to the suture needle 951, making it easier for the suture needle 951 to suture the gripped tissue (if the suture needle 951 is far from the gripped tissue, the needle may only penetrate the tissue surface and fail to suture). For example, the width wd3 of the circular suture needle in the thickness direction X (e.g.) Figure 27B (As shown) is 0.7–1.3 mm. With the above settings, the overall size of the sewing mechanism 900 in the thickness direction X can be further reduced.

[0182] Figure 28 This is a schematic diagram of the suture body of a suture mechanism provided for embodiments of this disclosure. For example, as... Figure 27A , Figure 27B and Figure 28 As shown, the length L of the suture body 990 is 20–60 mm, and the width WD of the suture body 990 is 10–25 mm. This ensures that the overall size of the suture body 990 meets the requirements of gastroscopy, such as allowing the suture mechanism 900 to pass smoothly through the esophagus without causing damage to the patient's esophagus. By setting the above lengths, the overall length of the suture body is also relatively small, which reduces restrictions on the movement of the probe tip and makes the overall movement of the probe tip and suture mechanism 900 more flexible. For example, the length L of the suture body 990 is the maximum length of the base body 911 along the axial direction Z, and the width WD of the suture body 990 is the maximum width of the suture body 990 equipped with the probe tip 930 along the thickness direction X. Through the above dimensional design, the miniaturization requirement of the suture mechanism can be achieved. Furthermore, for example, the width wd4 of the base 910 along the thickness direction X is 7.7–14.3 mm. When the width of the base 910 is narrower, the main body size, including the probe tip, can be increased, thereby further ensuring that the overall size of the suture body 990 is smaller.

[0183] like Figures 1 to 28As shown, embodiments of this disclosure also provide a suturing mechanism 900 configured to assemble a probe tip 930 and including a suturing body 990. The suturing body 990 includes a base 910, an auxiliary suturing structure, and a suturing structure. The base 910 includes a base body 911 extending generally along a plane P and having a thickness direction X perpendicular to the plane P. The base body 911 includes a first side S1 and a second side S2 opposite to each other in its thickness direction X. The probe tip 930 is assembled on the first side S1 of the base body 911. The auxiliary suturing structure is disposed on the second side S2 of the base body 911 and configured to perform an auxiliary suturing operation. The suturing structure is disposed along the thickness direction X between the probe tip 930 and the auxiliary suturing structure and configured to perform a suturing operation. The suturing structure includes a suturing assembly 950 and a suturing transmission assembly 960 for driving the suturing assembly 950. For example, the auxiliary suturing structure includes a gripping member, which includes a spiral gripper 200.

[0184] In the suture mechanism 900 provided in the above-described embodiments of the present disclosure, since the suture structure includes a suture assembly and a suture transmission assembly, and the suture structure has a large dimension in the thickness direction X, by setting the suture structure with a large thickness between the base and the auxiliary suture structure, it can be ensured that the width of the suture mechanism 900 in the thickness direction X is small.

[0185] For example, the length L of the suture body 990 is 20–60 mm, and the width WD of the suture body 990 is 10–25 mm. This ensures that the overall size of the suture body 990 meets the requirements of gastroscopy, for example, allowing the suture mechanism 900 to pass smoothly through the esophagus without causing damage to the patient's esophagus. By setting the above lengths, the overall length of the suture body is also smaller, reducing restrictions on the movement of the probe tip and making the overall movement of the probe tip and suture mechanism 900 more flexible. For example, the length L of the suture body 990 is the maximum length of the base body 911 along the axial direction Z, and the width WD of the suture body 990 is the maximum width of the suture body 990 equipped with the probe tip 930 along the thickness direction X. This dimensional design achieves the miniaturization requirement of the suture mechanism. Furthermore, for example, the width wd4 of the base 910 along the thickness direction X is 7.7–14.3 mm. When the width of the base 910 is narrower, the main body size, including the probe tip, can be increased, thereby further ensuring a smaller overall size of the suture body 990.

[0186] For example, the suture mechanism 900 also includes a cover structure 920 disposed along the thickness direction X on the side of the suture structure away from the base body 911. The auxiliary suture structure includes a gripping member, and the cover structure 920 has a gripping channel 300 configured to accommodate the gripping member. By providing the gripping channel 300, an independent movement space is provided for the gripping member, thereby allowing the gripping member to grasp the tissue before the suture needle performs the suture operation.

[0187] For example, the width wd1 of the cover structure 920 along the thickness direction X is 4.2 to 7.8 mm. This reduces the overall thickness of the suture body 990 in the thickness direction X. For example, at least a portion of the suture body 990 has an arcuate outer surface 340, which includes a portion of the outer surface 341 of the cover structure 920 and a portion of the outer surface 342 of the base 910. The cross-section of this arcuate outer surface perpendicular to the axial direction Z (i.e., in the plane shown in FIG. 27) is an outer arc. That is, the cross-sectional shape of the arcuate outer surface is arcuate. With the above arrangement, scratching of the tissue by the suture mechanism during movement within the tissue can be avoided, making its movement smoother. Further, the diameter of the outer arc ( Figure 27A The radius R is shown as equal to the width WD of the stitched body.

[0188] For example, the suture assembly 950 includes a suture needle 951, and the suture transmission assembly 960 includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the suture needle 951. The active member is configured to drive the suture needle 951 to move via the driven member and the driving member. For example, the active member includes a linear rack 961, the driven member includes a gear set 962, and the linear rack 961 is connected to the gear set 962. The movement of the linear rack 961 drives the rotation of the gear set 962. The driving member includes an arc-shaped rack 963, and the gear set 962 is connected to the arc-shaped rack 963. The linear rack 961 drives the suture needle 951 to move via the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the suture needle 951 during the suture operation.

[0189] For example, the base body 911 is provided with a first follower receiving groove G21, and the cover structure 920 is provided with a second follower receiving groove G22. The first follower receiving groove G21 and the second follower receiving groove G22 together accommodate the follower. The total depth of the first follower receiving groove G21 and the second follower receiving groove G22 is greater than or equal to the width of the follower in the thickness direction X. For example, the first follower receiving groove G21 is a gear receiving part 9103, and the second follower receiving groove G22 is a gear receiving part 9203. The gear receiving part 9103 and the gear receiving part 9203 together accommodate the gear set 962 to reduce the size of the sewing mechanism 900 in the thickness direction X. The total depth of gear receiving portion 9103 and gear receiving portion 9203 (i.e., the sum of the depths of gear receiving portion 9103 and gear receiving portion 9203) is greater than or equal to the width of gear set 962 in the thickness direction X, to ensure that gear set 962 is completely covered by the two receiving grooves and is not exposed. Further, for example, the depth of gear receiving portion 9103 is 0.35–1 mm, the depth of gear receiving portion 9203 is 0.35–1 mm, and the width of the follower in the thickness direction X is 0.7–1.5 mm. In this embodiment of the present disclosure, the gear receiving portion 9103 and gear receiving portion 9203 having the same depth is used as an example. It is understood that in other embodiments of the present disclosure, their depths may be different, and the present disclosure does not limit this.

[0190] For example, the driving element includes a linear rack 961, which includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611. The base body 911 is provided with a first driving element receiving groove G11, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving element receiving groove G11 can be a guide groove 912, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. This allows the guide portion 9611 to be completely accommodated within the guide groove 912, preventing it from coming out. Further, for example, the depth of the guide groove 912 is 1.05 to 1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05 to 1.95 mm.

[0191] For example, the base body 911 is provided with a first driving member receiving groove G31, and the cover structure 920 is provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 together accommodate the driving member; the total depth of the first driving member receiving groove G31 and the second driving member receiving groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member receiving groove G31 is an arc-shaped rack receiving groove 915, and the second driving member receiving groove G32 is an arc-shaped rack receiving groove 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate an arc-shaped rack 963; the total depth of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 (i.e., the sum of the depths of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (e.g., ...). Figure 27B (As shown), to ensure that the gear set 962 is completely contained within the two receiving grooves and is not exposed. Further, for example, the depth of the arc-shaped rack receiving groove 915 is 0.3 to 0.8 mm, the depth of the arc-shaped rack receiving groove 925 is 1.1 to 1.8 mm, and the width wd2 of the arc-shaped rack 963 along the thickness direction X is 1.4 to 2.6 mm.

[0192] For example, the driving component includes a linear rack 961, the driven component includes a gear set 962, and the driving component includes an arc-shaped rack 963. The arc-shaped rack 963 meshes with the gear set 962, and the gear set 962 meshes with the linear rack 961. Due to the high precision of the gear transmission, it can stably transmit large transmission torques, which is beneficial for the sewing operation of the sewing structure and improves the stability of the sewing operation.

[0193] For example, in the thickness direction X, the suture assembly 950 includes a circular suture needle that rotates about a rotation center O; a probe tip 930 is positioned along a third axis A3 parallel to the axial direction Z; and an auxiliary suture structure is configured along a fourth axis A4 parallel to the axial direction Z. The distance from the rotation center O to the third axis A3 of the probe tip 930 is shorter than the distance from the fourth axis A4 of the auxiliary suture structure to the third axis A3 of the probe tip 930. Compared to the spiral gripper 200, the circular suture needle is closer to the probe tip 930, which allows the probe tip 930 to more accurately observe the suturing effect of the circular suture needle. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8–5.2 mm, which allows the probe tip to better observe the suturing of the tissue by the suture needle. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45–4.55 mm. This allows the tissue grasped by the spiral gripper 200 to be closer to the suture needle 951, making it easier for the suture needle 951 to suture the grasped tissue (if the suture needle 951 is too far from the grasped tissue, the needle may only penetrate the tissue surface and fail to suture). For example, the width wd3 of the circular suture needle in the thickness direction X (e.g.) Figure 27B (As shown) the thickness is 0.7–1.3 mm. Through the above settings, the overall size of the sewing mechanism 900 in the thickness direction X can be further reduced. For example… Figures 1 to 28 As shown, embodiments of this disclosure also provide a suturing mechanism 900, configured to assemble a probe tip 930 and including a suturing body 990. The suturing body 990 includes a base 910, an auxiliary suturing structure, and a suturing structure. The base 910 includes a base body 911, which extends generally along a plane P and has a thickness direction X perpendicular to the plane P. The base body 911 includes a first side S1 and a second side S2 opposite to each other in the thickness direction X. The probe tip 930 is assembled on the first side S1 of the base body 911. The auxiliary suturing structure is disposed on the second side S2 of the base body 911 and configured to perform an auxiliary suturing operation. The suturing structure includes a suturing needle 951, which is disposed between the probe tip 930 and the auxiliary suturing structure along the thickness direction X and configured to perform a suturing operation.

[0194] In the suturing mechanism 900 provided in the above-described embodiments of the present disclosure, by setting the probe tube 930 on the first side S1 of the base body 911 and setting the suture needle 951 and the auxiliary suturing structure on the second side S2, the probe tube 930 can better observe the suturing effect while meeting the overall size requirements of the suturing mechanism 900.

[0195] For example, the length L of the suture body 990 is 20–60 mm, and the width WD of the suture body 990 is 10–25 mm. This ensures that the overall size of the suture body 990 meets the requirements of gastroscopy, such as allowing the suture mechanism 900 to pass smoothly through the esophagus without causing damage to the patient's esophagus. For example, the length L of the suture body 990 is the maximum length of the base body 911 along the axial direction Z, and the width WD of the suture body 990 is the maximum width of the suture body 990 equipped with the probe tip 930 along the thickness direction X. Through the above dimensional design, the miniaturization requirement of the suture mechanism can be achieved. Furthermore, for example, the width wd4 of the base 910 along the thickness direction X is 7.7–14.3 mm. When the width of the base 910 is narrower, the main body size, including the probe tip, can be increased, thereby further ensuring a smaller overall size of the suture body 990.

[0196] For example, the suture mechanism 900 also includes a cover structure 920 disposed along the thickness direction X on the side of the suture structure away from the base body 911. The auxiliary suture structure includes a gripping member, and the cover structure 920 has a gripping channel 300 configured to accommodate the gripping member. By providing the gripping channel 300, an independent movement space is provided for the gripping member, thereby allowing the gripping member to grasp the tissue before the suture needle performs the suture operation.

[0197] For example, the width wd1 of the cover structure 920 along the thickness direction X is 4.2 to 7.8 mm. This reduces the overall thickness of the suture body 990 in the thickness direction X. For example, at least a portion of the suture body 990 has an arcuate outer surface 340, which includes a portion of the outer surface 341 of the cover structure 920 and a portion of the outer surface 342 of the base 910. The cross-section of this arcuate outer surface perpendicular to the axial direction Z (i.e., in the plane shown in FIG. 27) is an outer arc. That is, the cross-sectional shape of the arcuate outer surface is arcuate. With the above arrangement, scratching of the tissue by the suture mechanism during movement within the tissue can be avoided, making its movement smoother. Further, the diameter of the outer arc ( Figure 27A The radius R is shown as equal to the width WD of the stitched body.

[0198] For example, the suture assembly 950 includes a suture needle 951, and the suture transmission assembly 960 includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the suture needle 951. The active member is configured to drive the suture needle 951 to move via the driven member and the driving member. For example, the active member includes a linear rack 961, the driven member includes a gear set 962, and the linear rack 961 is connected to the gear set 962. The movement of the linear rack 961 drives the rotation of the gear set 962. The driving member includes an arc-shaped rack 963, and the gear set 962 is connected to the arc-shaped rack 963. The linear rack 961 drives the suture needle 951 to move via the gear set 962 and the arc-shaped rack 963, thereby further ensuring the stability of the suture needle 951 during the suture operation.

[0199] For example, the base body 911 is provided with a first follower receiving groove G21, and the cover structure 920 is provided with a second follower receiving groove G22. The first follower receiving groove G21 and the second follower receiving groove G22 together accommodate the follower. The total depth of the first follower receiving groove G21 and the second follower receiving groove G22 is greater than or equal to the width of the follower in the thickness direction X. For example, the first follower receiving groove G21 is a gear receiving part 9103, and the second follower receiving groove G22 is a gear receiving part 9203. The gear receiving part 9103 and the gear receiving part 9203 together accommodate the gear set 962 to reduce the size of the sewing mechanism 900 in the thickness direction X. The total depth of gear receiving portion 9103 and gear receiving portion 9203 (i.e., the sum of the depths of gear receiving portion 9103 and gear receiving portion 9203) is greater than or equal to the width of gear set 962 in the thickness direction X, to ensure that gear set 962 is completely covered by the two receiving grooves and is not exposed. Further, for example, the depth of gear receiving portion 9103 is 0.35–1 mm, the depth of gear receiving portion 9203 is 0.35–1 mm, and the width of the follower in the thickness direction X is 0.7–1.5 mm. In this embodiment of the present disclosure, the gear receiving portion 9103 and gear receiving portion 9203 having the same depth is used as an example. It is understood that in other embodiments of the present disclosure, their depths may be different, and the present disclosure does not limit this.

[0200] For example, the driving element includes a linear rack 961, which includes a guide portion 9611 and a toothed portion 9612 connected to the guide portion 9611. The base body 911 is provided with a first driving element receiving groove G11, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. For example, the first driving element receiving groove G11 can be a guide groove 912, the depth of which is greater than or equal to the width of the guide portion 9611 in the thickness direction X. This allows the guide portion 9611 to be completely accommodated within the guide groove 912, preventing it from coming out. Further, for example, the depth of the guide groove 912 is 1.05 to 1.95 mm, and the width of the guide portion 9611 in the thickness direction X is 1.05 to 1.95 mm.

[0201] For example, the base body 911 is provided with a first driving member receiving groove G31, and the cover structure 920 is provided with a second driving member receiving groove G32. The first driving member receiving groove G31 and the second driving member receiving groove G32 together accommodate the driving member; the total depth of the first driving member receiving groove G31 and the second driving member receiving groove G32 is greater than or equal to the width of the driving member in the thickness direction X. For example, the first driving member receiving groove G31 is an arc-shaped rack receiving groove 915, and the second driving member receiving groove G32 is an arc-shaped rack receiving groove 925. The arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 together accommodate an arc-shaped rack 963; the total depth of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925 (i.e., the sum of the depths of the arc-shaped rack receiving groove 915 and the arc-shaped rack receiving groove 925) is greater than or equal to the width wd2 of the arc-shaped rack 963 in the thickness direction X (e.g., ...). Figure 27B (As shown), to ensure that the gear set 962 is completely contained within the two receiving grooves and is not exposed. Further, for example, the depth of the arc-shaped rack receiving groove 915 is 0.3 to 0.8 mm, the depth of the arc-shaped rack receiving groove 925 is 1.1 to 1.8 mm, and the width wd2 of the arc-shaped rack 963 along the thickness direction X is 1.4 to 2.6 mm.

[0202] For example, the driving component includes a linear rack 961, the driven component includes a gear set 962, and the driving component includes an arc-shaped rack 963. The arc-shaped rack 963 meshes with the gear set 962, and the gear set 962 meshes with the linear rack 961. Due to the high precision of the gear transmission, it can stably transmit large transmission torques, which is beneficial for the sewing operation of the sewing structure and improves the stability of the sewing operation.

[0203] For example, in the thickness direction X, the suture assembly 950 includes a circular suture needle that rotates about a rotation center O; a probe tip 930 is positioned along a third axis A3 parallel to the axial direction Z; and an auxiliary suture structure is configured along a fourth axis A4 parallel to the axial direction Z. The distance from the rotation center O to the third axis A3 of the probe tip 930 is shorter than the distance from the fourth axis A4 of the auxiliary suture structure to the third axis A3 of the probe tip 930. Compared to the spiral gripper 200, the circular suture needle is closer to the probe tip 930, which allows the probe tip 930 to more accurately observe the suturing effect of the circular suture needle. For example, in the thickness direction X, the distance from the rotation center O to the third axis A3 is 2.8–5.2 mm, which allows the probe tip to better observe the suturing of the tissue by the suture needle. In the thickness direction X, the distance from the rotation center O to the fourth axis A4 is 2.45–4.55 mm. This allows the tissue grasped by the spiral gripper 200 to be closer to the suture needle 951, making it easier for the suture needle 951 to suture the grasped tissue (if the suture needle 951 is too far from the grasped tissue, the needle may only penetrate the tissue surface and fail to suture). For example, the width wd3 of the circular suture needle in the thickness direction X (e.g.) Figure 27B (As shown) is 0.7–1.3 mm. With the above settings, the overall size of the sewing mechanism 900 in the thickness direction X can be further reduced.

[0204] For example, in some embodiments of this disclosure, the straight rack 961 may be referred to as the first rack, and the arc-shaped rack 963 may be referred to as the second rack.

[0205] Embodiments of this disclosure also provide a suture 9000, including any of the suturing mechanisms 900 described above. Since the suture 9000 has the suturing mechanism 900 described in any of the above embodiments, the suture 9000 also possesses the specific structure and technical effects of the suturing mechanism 900 described above, which will not be repeated here.

[0206] In summary, in the embodiments of this disclosure described above, the suturing mechanism is configured to assemble a probe tip and includes a suturing body, which includes a base, a gripping channel, and a suturing structure. The base includes a base body extending generally along a plane and having a thickness direction perpendicular to that plane. The base body includes a first side and a second side opposite to each other in its thickness direction. The base also includes a probe tip receiving groove disposed on the first side of the base body, configured to receive the probe tip and disposed along a first axis parallel to the axial direction. The gripping channel is disposed on the second side of the base body and configured to receive an auxiliary suturing structure, disposed along a second axis parallel to the axial direction. The auxiliary suturing structure includes a gripping member configured to grip tissue to perform an auxiliary suturing operation. The suturing structure is disposed along the thickness direction between the probe tip and the gripping member and configured to perform a suturing operation. The suturing structure includes a suturing assembly, which includes a circular suture needle that rotates about a center of rotation in a plane perpendicular to the thickness direction. The first and second axes are set to be coplanar, and the rotation center of the annular suture needle is located within this coplanar plane. This suturing mechanism allows for better observation of the suturing effect by the probe tip while maintaining a relatively small overall size.

[0207] In another embodiment of the present disclosure described above, the suturing mechanism is configured to assemble a probe tip and includes a suturing body. The suturing body includes a base, an auxiliary suturing structure, and a suturing structure. The base includes a base body extending generally along a plane and having a thickness direction perpendicular to the plane. The base body includes a first side and a second side opposite to each other in its thickness direction. The probe tip is assembled on the first side of the base body. The auxiliary suturing structure is disposed on the second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping member configured to grip tissue to perform the auxiliary suturing operation. The suturing structure is disposed along the thickness direction between the probe tip and the auxiliary suturing structure and configured to perform a suturing operation. The suturing structure includes a suturing assembly and a suturing transmission assembly for driving the suturing assembly. The above-described suturing mechanism can reduce the size of the suturing mechanism in the thickness direction while meeting suturing requirements.

[0208] In another embodiment of the present disclosure described above, the suturing mechanism is configured to assemble a probe tip and includes a suturing body. The suturing body includes a base, an auxiliary suturing structure, and a suturing structure. The base includes a base body extending generally along a plane and having a thickness direction perpendicular to the plane. The base body includes a first side and a second side opposite to each other in its thickness direction. The probe tip is assembled on the first side of the base body. The auxiliary suturing structure is disposed on the second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping member configured to grip tissue to perform the auxiliary suturing operation. The suturing structure includes a suturing assembly including a circular suture needle disposed along the thickness direction between the probe tip and the auxiliary suturing structure and configured to perform a suturing operation. The above-described suturing mechanism allows the probe tip to better observe the suturing effect while meeting the overall dimensions of the suturing mechanism.

[0209] In another embodiment of the present disclosure described above, the suturing mechanism is configured to assemble a probe tip and includes a suturing body comprising a base and a suturing structure. The base includes a base body extending generally along a plane and having a thickness direction perpendicular to that plane. The base body includes a first side and a second side opposite to each other in its thickness direction. The suturing structure is disposed on the second side of the base body and configured to perform a suturing operation. The suturing structure includes a suturing assembly and a suturing drive assembly for driving the suturing assembly. The base body includes a probe tip receiving groove formed on the first side for assembling the probe tip and a suturing drive receiving groove formed on the second side for accommodating the suturing drive assembly. The probe tip receiving groove and the suturing drive receiving groove are opposite to each other in the thickness direction, and the orthographic projections of the probe tip receiving groove and the suturing drive receiving groove on the plane overlap each other in the thickness direction. The above-described suturing mechanism has a smaller dimension in the thickness direction.

[0210] Where there is no conflict, the embodiments of this disclosure and the features thereof may be combined with each other.

[0211] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A suturing mechanism configured to assemble a probe tip and including a suturing body, the suturing body comprising: The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The base also includes a probe head receiving groove disposed on the first side of the base body. The probe head receiving groove is configured to receive the probe head and is disposed along a first axis parallel to the axial direction. A grasping channel is disposed on a second side of the base body and configured to accommodate an auxiliary suturing structure, the grasping channel being disposed along a second axis parallel to the axial direction; the auxiliary suturing structure includes a grasping member configured to grasp tissue to perform an auxiliary suturing operation; A suture structure is disposed along the thickness direction between the probe head and the gripping member and configured to perform a suture operation. The suture structure includes a suture assembly, which includes a circular suture needle that rotates about a center of rotation in a plane perpendicular to the thickness direction. The first axis and the second axis are configured to be coplanar, and the rotation center of the annular suture needle is located within this coplanar plane.

2. The suturing mechanism according to claim 1, wherein, The circular suture needle rotates about the center of rotation in a plane perpendicular to the thickness direction and parallel to the axial direction.

3. The suture structure according to claim 1, wherein, The suture body also includes: A cover structure is disposed along the thickness direction on the side of the stitched structure away from the base body, and the cover structure has the gripping channel.

4. The suturing mechanism according to claim 3, wherein, At least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and a portion of the outer surface of the base; the cross-section of the arcuate outer surface perpendicular to the axial direction is an outer arc.

5. The suturing mechanism according to claim 1, wherein, The suture structure further includes a suture transmission assembly, which includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the annular suture needle. The active member is configured to drive the annular suture needle to rotate via the driven member and the driving member.

6. The suturing mechanism according to claim 5, wherein, The base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove. The first follower receiving groove and the second follower receiving groove together accommodate the follower.

7. The suturing mechanism according to claim 5, wherein, The driving element includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

8. The suturing mechanism according to claim 5, wherein, The base body is provided with a first drive component receiving groove, and the cover structure is provided with a second drive component receiving groove. The first drive component receiving groove and the second drive component receiving groove together accommodate the drive component.

9. The suturing mechanism according to claim 5, wherein, The driving component includes a linear rack, the driven component includes a gear set, and the driving component includes an arc-shaped rack. The arc-shaped rack meshes with the gear set, and the gear set meshes with the linear rack.

10. The suturing mechanism according to claim 1, wherein, The probe head is configured to be mounted on the first side of the base body and arranged along a third axis parallel to the axial direction; the gripping component is configured along a fourth axis parallel to the axial direction. In the thickness direction, the distance from the rotation center of the annular suture needle to the third axis of the probe head is shorter than the distance from the fourth axis of the gripping member to the third axis of the probe head.

11. The suturing mechanism according to claim 1, wherein, The length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

12. The suturing mechanism according to claim 11, wherein, The length of the suture body is the maximum length of the base body along the axial direction, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

13. A suturing mechanism configured to assemble a probe tip and including a suturing body, the suturing body comprising: The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The probe head is mounted on the first side of the base body. An auxiliary suturing structure is disposed on a second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping component configured to grip tissue to perform the auxiliary suturing operation. A suture structure is disposed along the thickness direction between the probe head and the auxiliary suture structure and configured to perform a suture operation. The suture structure includes a suture assembly and a suture drive assembly for driving the suture assembly.

14. The suturing mechanism according to claim 13, wherein, The length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

15. The suturing mechanism according to claim 14, wherein, The length of the suture body is the maximum axial length of the base body, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

16. The suture structure according to claim 13, wherein, The stitching body further includes a cover structure disposed along the thickness direction on the side of the stitching structure away from the base body, the cover structure having a gripping channel configured to accommodate the gripping component.

17. The suturing mechanism according to claim 16, wherein, At least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and the outer surface of the base; the arcuate outer surface has an outer arc in cross section perpendicular to the axial direction.

18. The suturing mechanism according to claim 16, wherein, The suture assembly includes a circular suture needle, and the suture transmission assembly includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the circular suture needle. The active member is configured to drive the circular suture needle to rotate via the driven member and the driving member.

19. The suturing mechanism according to claim 18, wherein, The base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove. The first follower receiving groove and the second follower receiving groove together accommodate the follower.

20. The suturing mechanism according to claim 18, wherein, The driving element includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

21. The suturing mechanism according to claim 18, wherein, The base body is provided with a first drive component receiving groove, and the cover structure is provided with a second drive component receiving groove. The first drive component receiving groove and the second drive component receiving groove together accommodate the drive component.

22. The suturing mechanism according to claim 18, wherein, The driving component includes a linear rack, the driven component includes a gear set, and the driving component includes an arc-shaped rack. The arc-shaped rack meshes with the gear set, and the gear set meshes with the linear rack.

23. The suturing mechanism according to claim 13, wherein, The suture assembly includes a circular suture needle that rotates about a center of rotation. The probe head is positioned along a third axis parallel to the axial direction; The auxiliary suture structure is configured to be arranged along a fourth axis parallel to the axial direction; The distance from the rotation center to the third axis of the probe head is shorter than the distance from the fourth axis of the auxiliary suture structure to the third axis of the probe head.

24. A suturing mechanism configured to assemble a probe tip and including a suturing body, the suturing body comprising: The base includes a base body that extends generally along a plane and has a thickness direction perpendicular to the plane. The base body includes a first side and a second side that are opposite to each other in the thickness direction. The probe head is mounted on the first side of the base body. An auxiliary suturing structure is disposed on a second side of the base body and configured to perform an auxiliary suturing operation. The auxiliary suturing structure includes a gripping component configured to grip tissue to perform the auxiliary suturing operation. A suture structure, the suture structure including a suture assembly including a circular suture needle disposed along the thickness direction between the probe head and the auxiliary suture structure and configured to perform a suture operation.

25. The suturing mechanism according to claim 24, wherein, The length of the suture body is 20-60 mm, and the width of the suture body is 10-25 mm.

26. The suturing mechanism according to claim 25, wherein, The length of the suture body is the maximum axial length of the base body, and the width of the suture body is the maximum width of the suture body equipped with the probe head along the thickness direction.

27. The suture structure according to claim 24, wherein, The stitching body further includes a cover structure disposed along the thickness direction on the side of the stitching structure away from the base body, the cover structure having a gripping channel configured to accommodate the gripping component.

28. The suturing mechanism according to claim 27, wherein, At least a portion of the suture body has an arcuate outer surface, which includes a portion of the outer surface of the cover structure and the outer surface of the base; the arcuate outer surface has an outer arc in cross section perpendicular to the axial direction.

29. The suturing mechanism according to claim 27, wherein, The suture structure further includes a suture transmission assembly, which includes an active member, a driven member, and a driving member. The active member is connected to the driven member, the driven member is connected to the driving member, and the driving member is connected to the annular suture needle. The active member is configured to drive the annular suture needle to rotate via the driven member and the driving member.

30. The suturing mechanism according to claim 29, wherein, The base body is provided with a first follower receiving groove, and the cover structure is provided with a second follower receiving groove. The first follower receiving groove and the second follower receiving groove together accommodate the follower.

31. The suturing mechanism according to claim 29, wherein, The driving element includes a linear rack with teeth, one of the linear rack and the base body includes a guide portion having the teeth, and the other includes a guide groove configured to receive the guide portion, the guide portion being configured to be movable within the guide groove.

32. The suturing mechanism according to claim 29, wherein, The base body is provided with a first drive component receiving groove, and the cover structure is provided with a second drive component receiving groove. The first drive component receiving groove and the second drive component receiving groove together accommodate the drive component.

33. The suturing mechanism according to claim 29, wherein, The driving component includes a linear rack, the driven component includes a gear set, and the driving component includes an arc-shaped rack. The arc-shaped rack meshes with the gear set, and the gear set meshes with the linear rack.

34. The suturing mechanism according to claim 24, wherein, The annular suture needle rotates around the center of rotation; The probe head is positioned along a third axis parallel to the axial direction; The auxiliary suture structure is configured to be arranged along a fourth axis parallel to the axial direction; The distance from the rotation center to the third axis of the probe head is shorter than the distance from the fourth axis of the auxiliary suture structure to the third axis of the probe head.

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