Suture device

Abstract

A suture device. The suture device includes a spiral grasping portion and a stop portion; the spiral grasping portion includes a grasping tip and a first spiral portion connected to the grasping tip, the spiral grasping portion being configured to grasp tissue through the grasping tip and the first spiral portion to bring the tissue into a suture-ready state; the stop portion is connected to the proximal end of the first spiral portion; the extension trajectory of the stop portion is different from the extension trajectory of the first spiral portion. This suture device can effectively control the spiral grasping depth.

Description

Technical Field

[0001] This disclosure relates to a suture device. Background Technology

[0002] With the continuous development of medical and engineering technologies, suture devices have been widely used in various surgeries due to their advantages such as high precision, high efficiency, and reduced workload for medical staff. On the other hand, endoscopic surgery is an important component of modern surgery.

[0003] A suture device is used to suture tissues during endoscopic surgery. A suture device includes a suture head (working head), which is mounted on the endoscope tip. It performs suturing and other operations on tissues, and its operation can be observed through the endoscope to monitor the progress of the procedure in real time. Typically, a suture device includes a suturing assembly and a tissue grasping assembly; the suturing assembly is configured to suture the tissue to be sutured, while the tissue grasping assembly is configured to grasp and pull the tissue to be sutured within the working range of the suturing assembly. Summary of the Invention

[0004] This disclosure provides a suture device. In this suture device, since the extension trajectory of the stop portion is different from the extension trajectory of the spiral filament in the first spiral portion, after the first spiral portion of the spiral gripper has entered the tissue, the stop portion can effectively prevent further spiraling, thereby effectively controlling the spiraling depth of the spiral gripper.

[0005] At least one embodiment of this disclosure provides a suture device comprising: a helical gripping portion including a gripping tip and a first helical portion connected to the gripping tip, the helical gripping portion being configured to grip tissue through the gripping tip and the first helical portion to place the tissue in a state to be sutured; and a stop portion connected to the proximal end of the first helical portion; the extension trajectory of the stop portion being different from the extension trajectory of the first helical portion.

[0006] For example, in a suture provided in one embodiment of this disclosure, the radial dimension of the stop portion is less than or equal to the radial dimension of the first spiral portion, and the radial direction is perpendicular to the extension direction of the spiral axis of the first spiral portion.

[0007] For example, in a suture provided in one embodiment of this disclosure, the stop portion includes a straight extension portion.

[0008] For example, in a suture device provided in one embodiment of this disclosure, the stop portion includes a second spiral portion, the spiral direction of the second spiral portion being opposite to the spiral direction of the first spiral portion.

[0009] For example, a suture provided in one embodiment of this disclosure further includes: a drive member, the stop portion being connected to the drive member, the drive member being configured to drive the first threaded portion and the gripping tip to move via the stop portion to grip tissue.

[0010] For example, in a suture device provided in one embodiment of this disclosure, the driving member includes: a connecting portion fixedly connected to the stop portion; and a driving flexible shaft fixedly connected to the connecting portion.

[0011] For example, in a suture device provided in one embodiment of this disclosure, the connecting portion includes a spiral fixing portion, the spiral fixing portion includes a fixing groove fixedly connected to the stop portion, and at least a portion of the stop portion is accommodated in the fixing groove.

[0012] For example, in a suture device provided in one embodiment of this disclosure, the connecting part includes a drive connecting part, the drive connecting part having a receiving space fixedly connected to the drive flexible shaft, and at least a portion of the drive flexible shaft being received within the receiving space.

[0013] For example, one embodiment of the suture provided in this disclosure further includes: a protective sleeve fitted over the spiral gripping portion, the stop portion, and the drive flexible shaft, wherein the drive flexible shaft is configured to drive the spiral gripping portion to move through the stop portion, so that the spiral gripping portion extends or retracts from the protective sleeve.

[0014] For example, in a suture device provided in one embodiment of this disclosure, at least one of the drive flexible shaft and the connecting portion is disposed in contact with the protective sleeve so that the protective sleeve moves synchronously with the spiral gripping portion.

[0015] For example, a suture device provided in one embodiment of this disclosure further includes a suture assembly including a suture needle, the suture assembly being configured to suture tissue in the state to be sutured by the suture needle. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the structure of a spiral gripper in a suture device according to an embodiment of the present disclosure;

[0018] Figure 2 for Figure 1 The diagram shown is a disassembly diagram of the spiral gripper;

[0019] Figure 3 for Figure 1 and Figure 2A partially enlarged schematic diagram of the spiral gripper shown;

[0020] Figure 4 A partial structural schematic diagram of a spiral gripper in another suture device provided in an embodiment of this disclosure;

[0021] Figure 5 A schematic diagram of the structure of a spiral gripper in another suture provided in an embodiment of this disclosure;

[0022] Figure 6 for Figure 5 The diagram shown is a disassembly diagram of the spiral gripper;

[0023] Figure 7 A partial structural schematic diagram of a spiral gripper in another suture device provided in an embodiment of this disclosure;

[0024] Figure 8 This is a disassembly diagram of a suture device provided in one embodiment of the present disclosure;

[0025] Figure 9 This is a schematic diagram of the structure of a suture provided in one embodiment of the present disclosure;

[0026] Figure 10 This is a schematic diagram of the structure of another suture provided in one embodiment of the present disclosure;

[0027] Figure 11 This is a schematic diagram of the overall structure of a suture provided in an embodiment of the present disclosure;

[0028] Figure 12 This is a schematic diagram of the structure of another suture provided in one embodiment of the present disclosure;

[0029] Figure 13 for Figure 12 The diagram shown illustrates the disassembly of the suture device.

[0030] Figure 14 for Figure 12 The diagram shows a partial structural schematic of the suture device.

[0031] Figure 15 This is a schematic diagram of the structure of another suture provided in one embodiment of the present disclosure;

[0032] Figure 16 This is a schematic diagram of the structure of a first torque transmission part and a second torque transmission part in a suture device according to an embodiment of the present disclosure;

[0033] Figure 17 A schematic diagram of another suture device is provided for one embodiment of this disclosure;

[0034] Figure 18This is a schematic diagram of the structure of another suture provided in one embodiment of the present disclosure;

[0035] Figure 19 This disclosure provides a schematic diagram of the structure of a spiral gripper in a suture device according to an embodiment; and

[0036] Figure 20 This is a schematic diagram of the overall structure of another suture provided in an embodiment of the present disclosure. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The spiral grasper is a compact, efficient, and stable tissue-grabbing component. However, in some surgeries, especially those performed endoscopically inside the body, if the spiral grasper is inserted too shallowly, it cannot effectively grasp tissue; if it is inserted too deeply, it may damage the tissue. Therefore, precise control of the spiral grasper's insertion depth is necessary. Furthermore, in some endoscopic surgeries, the size of the spiral grasper also needs to be controlled.

[0041] In response, this disclosure provides a suture device. The suture device includes a spiral gripping portion and a stop portion; the spiral gripping portion includes a gripping tip and a first spiral portion connected to the gripping tip, the spiral gripping portion being configured to grip tissue through the gripping tip and the first spiral portion to bring the tissue into a state ready for suturing; the stop portion is connected to the first spiral portion; the extension trajectory of the stop portion is different from the extension trajectory in the first spiral portion. For example, the extension trajectory of the first spiral portion is the spiral trajectory of the spiral filament of the first spiral portion.

[0042] In the suture device provided in this embodiment, since the extension trajectory of the stop portion is different from the extension trajectory of the first spiral portion, after the first spiral portion of the spiral gripper is screwed into the tissue, the stop portion can effectively prevent further screwing in, thereby effectively controlling the screwing depth of the spiral gripper.

[0043] The suture device provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0044] Figure 1 This is a schematic diagram of the structure of a spiral gripper in a suture device according to an embodiment of the present disclosure; Figure 2 for Figure 1 The diagram shows the disassembly of the spiral gripper. Figure 1 and Figure 2 As shown, the suture device 900 includes a spiral gripper 200; the spiral gripper 200 includes a spiral gripping portion 210 and a stop portion 220; the spiral gripping portion 210 includes a gripping tip 211 and a first spiral portion 212 connected to the gripping tip 211; the gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate into the tissue to be gripped, thereby forming a first channel inside the tissue to be gripped, and gripping the tissue to be gripped through the cooperation between the first spiral portion and the first channel.

[0045] like Figure 1 and Figure 2 As shown, the stop portion 220 is connected to the proximal end of the first spiral portion 212; the extension trajectory of the stop portion 220 is different from the extension trajectory of the first spiral portion 212, that is, the extension trajectory of the stop portion 220 is different from the extension trajectory of the spiral wire in the first spiral portion 212.

[0046] In the suture device provided in this embodiment, the grasping tip is used to pierce the tissue to be grasped, and then the first helical part is configured to form a first channel (helical channel) inside the tissue to be grasped through its own rotation and forward movement. After the first helical part of the helical grasper is screwed into the tissue, since the extension trajectory of the stop part is different from the extension trajectory of the helical filament in the first helical part, if the stop part enters the tissue to be grasped, it will form a second channel that is inconsistent with the first channel. Therefore, the stop part cannot enter the first channel formed by the first helical part, thus effectively preventing further screwing in. That is to say, when the first helical part is completely screwed into the tissue to be grasped, the stop part will not continue to enter the tissue to be grasped. The length of the first helical part is the screwing depth of the helical grasper. Thus, the helical grasper can effectively control the screwing depth of the helical grasper.

[0047] like Figure 1 and Figure 2 As shown, the radial dimension of the stop portion 220 is less than or equal to the radial dimension of the first spiral portion 212, and the radial dimension is perpendicular to the extension direction of the spiral axis of the first spiral portion 212.

[0048] In the suture provided in the embodiments of this disclosure, since the radial dimension of the stop portion is less than or equal to the radial dimension of the first spiral portion, the stop portion does not need to increase its volume to stop entering the tissue to be grasped. Therefore, the spiral grasper has a smaller radial dimension, which is beneficial for integration into an endoscope or a suture used in conjunction with an endoscope.

[0049] It should be noted that some spiral grippers control the spiral gripper's insertion depth by forming or welding a large columnar blocking part after the spiral gripper. This method increases both the radial dimension and weight of the spiral gripper, making it unsuitable for integration into endoscopes or suture devices used with endoscopes.

[0050] In some examples, such as Figure 1 and Figure 2 As shown, the stop portion 220 includes a second helical portion 222, the helical direction of which is opposite to that of the first helical portion 212. On one hand, because the helical direction of the second helical portion is opposite to that of the first helical portion, the extension trajectory of the helical wire in the second helical portion differs significantly from that in the first helical portion, thus effectively preventing further screwing in. On the other hand, the second helical portion has a simple structure and is easy to manufacture. Furthermore, since the second helical portion can have a larger contact area with the driving component mentioned later, it can be more firmly fixed, making the movement of the spiral gripper more stable.

[0051] In some examples, the first spiral section described above may be called the forward spiral section, and the second spiral section may be called the reverse spiral section.

[0052] Of course, the stop portion provided in this embodiment includes, but is not limited to, the second spiral portion described above. Other forms may also be adopted, as long as the extension trajectory of the stop portion is different from the extension trajectory of the spiral wire in the first spiral portion, and the radial dimension of the stop portion is less than or equal to the radial dimension of the first spiral portion.

[0053] Figure 3 for Figure 1 and Figure 2 A partially enlarged schematic diagram of the spiral gripper shown. Figure 3 As shown, the spiral gripper 200 includes a spiral gripping portion 210 and a stop portion 220; the spiral gripping portion 210 includes a gripping tip 211 and a first spiral portion 212 connected to the gripping tip 211; the stop portion 220 is connected to the first spiral portion 212, the radial dimension of the stop portion 220 is less than or equal to the radial dimension of the first spiral portion 212, and the extension trajectory of the stop portion 220 is different from the extension trajectory of the spiral wire in the first spiral portion 212.

[0054] In some examples, such as Figure 3 As shown, the diameter of the spiral filament of the first spiral portion 212 ranges from 1 to 3 millimeters; for example, the diameter of the spiral filament of the first spiral portion can be 1 millimeter, 1.5 millimeters, 2 millimeters, 2.5 millimeters, or 3 millimeters. Therefore, the first spiral portion can be easily screwed into the tissue to be grasped.

[0055] In some examples, such as Figure 3 As shown, the diameter of the spiral wire in the second spiral portion 222 is the same as the diameter of the spiral wire in the first spiral portion 212, which facilitates manufacturing. Of course, embodiments of this disclosure include, but are not limited to, the diameter of the spiral wire in the second spiral portion and the diameter of the spiral wire in the first spiral portion may also be different.

[0056] In some examples, the length of the first helical portion 212 ranges from 2 to 10 millimeters; for example, the length of the first helical portion 212 can be 2 millimeters, 3 millimeters, 5 millimeters, 7 millimeters, 8 millimeters, or 10 millimeters. The length of the stop portion 220 ranges from 2 to 20 millimeters; for example, the length of the stop portion 220 can be 2 millimeters, 4 millimeters, 8 millimeters, 10 millimeters, 15 millimeters, or 20 millimeters. It should be noted that the insertion depth of the spiral gripper can be controlled by setting the length of the first helical portion, and therefore the specific length of the first helical portion can be set according to factors such as the thickness of the tissue to be gripped and the type of surgery.

[0057] In some examples, such as Figure 3As shown, the pitch D1 between two adjacent spiral coils in the first spiral section 212 ranges from 0.77 mm to 1.43 mm. Therefore, the first spiral section can better screw into the tissue to be grasped, and after screwing in, it can better pull and move the tissue.

[0058] For example, the pitch D1 between two adjacent spiral turns in the first spiral section 212 can range from 0.93 mm to 1.27 mm, such as 1.0 mm, 1.1 mm, or 1.2 mm.

[0059] In some examples, such as Figure 3 As shown, the pitch between two adjacent spiral coils in the second spiral section 222 is not equal to the pitch between two adjacent spiral coils in the first spiral section 212, thereby better preventing the second spiral section from spiraling into the tissue to be grasped. Of course, embodiments of this disclosure include, but are not limited to, the pitch between two adjacent spiral coils in the second spiral section and the pitch between two adjacent spiral coils in the first spiral section may also be equal.

[0060] Figure 4 A partial structural schematic diagram of a spiral gripper in another suture device provided according to an embodiment of this disclosure. (See diagram below.) Figure 4 As shown, the spiral gripper 200 also includes a spiral gripping part 210 and a stop part 220; and Figure 1 and Figure 2 The spiral gripper shown is different. Figure 4 The stop portion 220 of the illustrated spiral gripper 200 includes a straight extension portion 221. Therefore, the extension trajectory of the straight extension portion differs from the extension trajectory of the spiral wire in the first spiral portion, thereby effectively preventing further spiraling. It should be noted that... Figure 4 The spiral gripper shown is similar in its specific structure to the stop section. Figure 1 and Figure 2 The spiral gripper shown is different, but its other structures and designs can be referenced. Figure 1 and Figure 2 Related design.

[0061] For example, such as Figure 4 As shown, the extending direction of the straight extension 221 is parallel to the extending direction of the spiral axis of the first spiral portion 212. Of course, embodiments of this disclosure include, but are not limited to, the extending direction of the straight extension may not be parallel to the extending direction of the spiral axis of the first spiral portion.

[0062] In some examples, such as Figure 1 and Figure 2As shown, the aforementioned spiral gripper 200 further includes a drive member 230, and a stop portion 220 is connected to the drive member 230. The drive member 230 is configured to drive the first threaded portion 212 and the gripping tip 211 to move via the stop portion 220 to grip the tissue to be gripped. For example, the drive member 230 is configured to drive the stop portion 220 to rotate, thereby causing the spiral gripping portion 210 to rotate and advance, thus allowing it to screw into the tissue to be gripped. Of course, embodiments of this disclosure include, but are not limited to, this; the drive member 230 may also drive the stop portion 220 to translate to cooperate with the rotation of the spiral gripping portion 210, thereby allowing it to screw into the tissue to be gripped.

[0063] In some examples, such as Figure 1 and Figure 2 As shown, the drive member 230 includes a connecting portion 235 and a drive flexible shaft 233; the connecting portion 235 is connected to the stop portion 220, and the drive flexible shaft 233 is connected to the connecting portion 235. Of course, the embodiments of this disclosure include, but are not limited to, this, and the drive member may also take other forms, as long as it can drive the stop portion 220 to screw into / out of the tissue to be grasped.

[0064] In some examples, such as Figure 1 and Figure 2 As shown, the connecting portion 235 includes a spiral fixing portion 231 and a driving connecting portion 232; at this time, the driving member 230 includes a spiral fixing portion 231, a driving connecting portion 232, and a driving flexible shaft 233; one end of the spiral fixing portion 231 is connected to the stop portion 220, and the other end is connected to the driving connecting portion 232, and the driving connecting portion 232 is connected to the driving flexible shaft 233. Of course, the embodiments of this disclosure include, but are not limited to, this, and the driving member can also take other forms, as long as it can drive the stop portion 220 to screw in / out of the tissue to be grasped.

[0065] For example, the aforementioned drive shaft 233 can be a flexible element that can transmit torque and apply thrust or tension to the drive connection 232. For example, the drive shaft 233 can be a drive metal rope, such as a steel wire rope.

[0066] For example, such as Figure 1 and Figure 2 As shown, the spiral fixing part 231 and the stop part 220 can be fixedly connected by welding or other means. Of course, the embodiments of this disclosure include, but are not limited to, the spiral fixing part and the stop part can also be fixedly connected by other means.

[0067] For example, such as Figure 1 and Figure 2 As shown, the spiral fixing part 231 and the drive connecting part 232 can be integrally formed. Of course, the embodiments disclosed herein include, but are not limited to, this.

[0068] In some examples, such as Figure 1 and Figure 2As shown, the spiral fixing part 231 includes a fixing groove 2310 fixedly connected to the stop part 220; at least a portion of the stop part 220 is accommodated within the fixing groove 2310. Therefore, the fixing groove increases the contact area between the spiral fixing part and the stop part, thereby better fixing the stop part to the spiral fixing part and improving stability.

[0069] In some examples, such as Figure 1 and Figure 2 As shown, the extension trajectory of the fixing groove 2310 is at least partially the same as the extension trajectory of the stop portion 220. For example, when the stop portion 220 includes a second helical portion 222, the helical fixing portion 231 may include a helical fixing groove 2310 that mates with the second helical portion 222. Thus, the fixing groove increases the contact area between the helical fixing portion and the stop portion, thereby better fixing the stop portion to the helical fixing portion and improving stability.

[0070] Of course, the embodiments disclosed herein include, but are not limited to, the spiral fixing part may not have a fixing groove; when the above-mentioned stop part includes a second spiral part, the inner side of the spiral wire of the second spiral part may be flattened to increase the contact area with the spiral fixing part. In addition, when the stop part includes a straight extension part, the spiral fixing part may include a straight fixing groove that cooperates with the straight extension part.

[0071] In some examples, such as Figure 1 and Figure 2 As shown, the drive connection part 232 and the drive flexible shaft 233 can be fixedly connected by welding or other methods. For example, the end face of the drive connection part 232 and the end face of the drive flexible shaft 233 can be fixedly connected by welding.

[0072] Figure 5 A schematic diagram of the structure of a spiral gripper in another suture provided in an embodiment of this disclosure; Figure 6 for Figure 5 The diagram shows the disassembly of the spiral gripper. Figure 5 and Figure 6 As shown, the spiral gripper 200 includes a spiral gripping part 210, a stop part 220, and a driving member 230; and Figure 1 and Figure 2 The spiral gripper shown is different. Figure 5 and Figure 6 The connecting portion 235 of the spiral gripper 200 shown includes a drive connecting portion 232, which includes a receiving space 2321 fixedly connected to the drive flexible shaft 233. At least a portion of the drive flexible shaft 233 is received within the receiving space 2321, thereby improving the connection stability between the drive flexible shaft and the drive connecting portion.

[0073] For example, such as Figure 5 and Figure 6 As shown, the drive connection portion 232 includes a fixing hole 2321, a fixing sidewall 2322, and a fixing opening 2323. The fixing hole 2321 is recessed from the end face of the drive connection portion 232 away from the spiral fixing portion 231. The fixing sidewall 2322 surrounds the fixing hole 2321 to enclose it; that is, the fixing sidewall 2322 is the sidewall of the fixing hole 2321. The fixing opening 2323 penetrates the fixing sidewall 2322 and communicates with the fixing hole 2321. One end of the drive flexible shaft 233 is located in the fixing hole 2321. The fixing opening 2323 is configured to weld the end to the drive connection portion 232, thereby facilitating welding and increasing the welding area, thus improving the connection stability between the drive flexible shaft and the drive connection portion. It should be noted that the fixing hole 2321 is also configured as a receiving space to accommodate the drive flexible shaft.

[0074] Of course, the embodiments disclosed herein include, but are not limited to, these. For example, the drive connection portion may only include a fixing hole, and a fixing is achieved by placing one end of the drive flexible shaft in the fixing hole. Alternatively, the inner side of the fixing hole includes an internal thread, and the outer side of the end of the drive flexible shaft includes an external thread, with the fixing hole and the end of the drive flexible shaft engaging through a threaded connection to achieve fixing.

[0075] In some examples, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the spiral gripper 200 may further include a protective sleeve 240, which is fitted over the spiral gripping part 210, the stop part 220, and the drive flexible shaft 233. On the one hand, the protective sleeve 240 can prevent the spiral gripping part 210 from scratching other tissues or objects during the process of being fed into the designated position; on the other hand, the protective sleeve 240 can also protect the drive flexible shaft 233.

[0076] In some examples, the drive flexible shaft 233 is also configured to drive the drive helical gripping part 210 to move relative to the protective sleeve 240 via the stop part 220, so that the helical gripping part 210 extends or retracts from the protective sleeve 240. With this configuration, when the helical gripper grips the tissue to be gripped, the helical gripping part can extend out of the protective sleeve, and the gripping tip of the helical gripping part can penetrate the tissue. The first helical part of the helical gripping part can rotate and spiral into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue is gripped through the cooperation between the first helical part and the first channel. During the process of the helical gripper being delivered to a designated position, or when it is being removed from a designated position, the helical gripping part can retract from the protective sleeve to prevent the gripping tip of the helical gripping part from scratching other tissues or objects, thereby improving safety.

[0077] For example, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the outer diameter of the spiral gripping part 210 is smaller than the inner diameter of the protective sleeve 240.

[0078] In some examples, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, at least one of the drive shaft 233 and the connecting part 235 (e.g., drive connecting part 232) is in contact with the protective sleeve 240, so as to drive the spiral gripping part 210 to move under the frictional force of the contact, that is, to achieve synchronous movement of the protective sleeve 240 and the spiral gripping part 210. Since the protective sleeve can extend outside the human body, medical personnel can drive the spiral gripping part to move through the protective sleeve, thereby approaching or abutting the tissue to be gripped. Then, the stop part is driven by the drive member to rotate and advance, so as to screw into the tissue to be gripped. Of course, after the spiral gripper grips the tissue to be gripped, the medical personnel can drive the spiral gripping part to move through the protective sleeve to pull the tissue to be gripped to the position for subsequent operations, for example, to the suture area of ​​the suture assembly.

[0079] In some examples, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, both the drive flexible shaft 233 and the drive connection portion 232 are in contact with the protective sleeve 240. Therefore, the protective sleeve 240 can generate a pushing or pulling force on both the drive flexible shaft 233 and the drive connection portion 232, thereby driving the spiral gripping part to move.

[0080] For example, by setting the outer diameter of the drive flexible shaft to be slightly smaller than the inner diameter of the protective sleeve, the drive flexible shaft and the protective sleeve can be partially in contact and can also move relative to each other; similarly, by setting the outer diameter of the drive connection part to be slightly smaller than the inner diameter of the protective sleeve, the drive connection part and the protective sleeve can be partially in contact and can also move relative to each other.

[0081] In some examples, such as Figure 1 and Figure 2 As shown, when the drive flexible shaft 233 includes a drive metal rope 233A, the drive metal rope 233A can be directly in contact with the protective sleeve 240.

[0082] It is worth noting that when the outer diameter of the drive metal rope is small, a thickened layer can be provided on the outside of the drive metal rope, so that the drive flexible shaft and the protective sleeve can be in contact. In this case, the drive flexible shaft may include the drive metal rope and the thickened layer on the outside of the drive metal rope.

[0083] and Figure 1 and Figure 2The spiral gripper shown is different. Figure 5 and Figure 6 The drive flexible shaft 233 in the spiral gripper 200 shown includes a drive metal rope 233A and a thickened layer 233B; the thickened layer 233B is sleeved outside the drive metal rope 233A and is in contact with the protective sleeve 240.

[0084] It is worth noting that the drive shaft and the protective sleeve may not need to contact each other; only the drive connecting part may contact the protective sleeve. Therefore, the protective sleeve can drive the drive connecting part to move solely through the friction between the drive connecting part and the protective sleeve.

[0085] In some examples, the protective sleeve described above can be a flexible protective sleeve, meaning that the protective sleeve can deform under force. Therefore, medical personnel can squeeze the protective sleeve to bring it into contact with the drive shaft, thereby driving the drive shaft to move.

[0086] In some examples, such as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the spiral gripper 200 also includes a hygroscopic tube 250, which is fitted onto a protective sleeve 240. Thus, the spiral gripper can easily move (propel, track, and rotate) within the human body, while avoiding problems such as kinking.

[0087] Figure 7 A partial structural schematic diagram of a spiral gripper in another stitcher provided in an embodiment of this disclosure. Figure 7 This shows the area where the tail of the sodium hypochlorite tube is located. (For example...) Figure 7 As shown, the end of the hyaluronic acid tube 250 away from the spiral gripping part includes a flared opening 252, the inner diameter of which is larger than the average inner diameter of the hyaluronic acid tube 250; a protective sleeve 240 extends from this flared opening 252. The portion of the protective sleeve 240 extending from the flared opening 252 can be operated by medical personnel. For example, medical personnel can squeeze this portion to bring it into contact with the drive flexible shaft, thereby driving the drive flexible shaft to move.

[0088] At least one embodiment of this disclosure also provides a suture device. Figure 8 This is a disassembly diagram of a suture device provided in one embodiment of the present disclosure; Figure 9 This is a schematic diagram of the structure of a suture provided in one embodiment of the present disclosure; Figure 10 This is a schematic diagram of another suture device provided according to an embodiment of the present disclosure. It should be noted that, for clarity, Figure 9 The stitcher shown does not include a cover structure; Figure 10 The suture device shown does not have a base.

[0089] like Figure 8As shown, the suture device 900 includes the aforementioned spiral gripper 200. Because the spiral gripper 200 effectively controls the insertion depth of the spiral gripper and facilitates integration into an endoscope or a suture device used with an endoscope, this suture device can perform suturing operations effectively, efficiently, and stably, and can have a small size, thus facilitating integration into or use with an endoscope.

[0090] In some examples, such as Figure 8 , Figure 9 and Figure 10 As shown, the suture device 900 also includes a base 910, a cover structure 920, and a suture assembly 950; the base 910 and the cover structure 920 are disposed opposite to each other; the cover structure 920 includes a suture mounting portion 927 and a drive receiving portion 928, the suture assembly 950 is mounted on the suture mounting portion 927, and the cover structure 920 also includes a helical gripping receiving groove 929 extending from the suture mounting portion 927 to the drive receiving portion 928, the helical gripping receiving groove 929 being configured to receive at least a portion of the helical gripper 200. This configuration allows the helical gripper 200 to be integrated into the suture device 900, and facilitates the helical gripper 200 in drawing the tissue to be gripped into the effective range of the suture assembly 950.

[0091] For example, the suture assembly 950 may include a suture needle 952, and the suture assembly 950 is configured to suture tissue in a state to be sutured by means of the suture needle 952.

[0092] In some examples, such as Figure 8 , Figure 9 and Figure 10 As shown, when the cover structure 920 also includes a spiral gripping receiving groove 929, the base 910 may also include a corresponding receiving groove 919; the spiral gripping receiving groove 929 and the receiving groove 919 may be arranged opposite to each other to jointly form a spiral gripping receiving space.

[0093] In some examples, such as Figure 8 , Figure 9 and Figure 10 As shown, the spiral gripper 200 also includes a hyaluronic acid tube 250, which is fitted onto the protective sleeve 240. At this time, the end of the spiral gripping receiving groove 929 away from the stitching mounting part 927 includes a limiting groove 9295, which is configured to restrict the movement of the hyaluronic acid tube 250 toward the stitching mounting part 927, thereby limiting one end of the hyaluronic acid tube 250.

[0094] In some examples, such as Figure 8 , Figure 9 and Figure 10As shown, the suture device 900 may further include a suture transmission assembly 960 and a suture drive assembly 970, with the suture transmission assembly 960 connected to the suture assembly 950 and the suture drive assembly 970, respectively. Thus, the suture drive assembly 970 can drive the suture assembly 950 to perform suture operations via the suture transmission assembly 960.

[0095] One embodiment of this disclosure also provides a suture device. Figure 11 This is a schematic diagram of the overall structure of a suture provided in one embodiment of the present disclosure. Figure 11 As shown, the aforementioned suture 900 may further include a control box 9100 and a controller 9200; the control box 9100 is configured to house a drive mechanism, such as a motor, for driving the suture 900. The controller 9200 is communicatively connected to the control box 9100, thereby sending control commands to the control box 9100 to drive the aforementioned suture 900 to perform suturing operations.

[0096] For example, such as Figure 11 As shown, at least a portion of the suture device 900 can be mounted on the probe tube 9300. For example, the probe tube 9300 can be an endoscope. Of course, embodiments of this disclosure include, but are not limited to, this.

[0097] For example, such as Figure 11 As shown, the above-mentioned suture 900 includes a working end 9400, and the spiral gripping part 210 and the stop part 220 of the spiral gripper 200 can be provided at the working end 9400.

[0098] On the other hand, some surgeries require multiple suturing operations, which necessitates frequent operation of the suture device by medical staff, resulting in high labor intensity and long operation time for medical staff.

[0099] In this regard, the present disclosure also provides a suture device. The suture device includes a spiral gripper and a spiral gripping drive mechanism; the spiral gripper includes: a gripping tip, a first spiral portion connected to the gripping tip, and a drive flexible shaft connected to the first spiral portion; the spiral gripping drive mechanism includes a spiral drive assembly; the spiral drive assembly includes a first drive motor and a spiral transmission assembly, the spiral transmission assembly being connected to the drive flexible shaft, and the first drive motor being configured to drive the drive flexible shaft to rotate about the axis of the drive flexible shaft via the spiral transmission assembly, thereby driving the first spiral portion and the gripping tip to rotate.

[0100] In the suture device provided in this embodiment, a first drive motor is configured to drive a drive shaft to rotate around its axis via a helical transmission assembly, thereby driving the first helical portion and the grasping tip to rotate. Thus, the suture device can electrically drive the first helical portion and the grasping tip to rotate, causing the grasping tip to penetrate the tissue to be grasped and forming a first channel within the tissue through the first helical portion, thereby grasping the tissue. This suture device eliminates the need for medical personnel to manually rotate the helical grasper, thus significantly reducing the workload of medical staff and improving surgical efficiency.

[0101] The suture device provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0102] One embodiment of this disclosure provides a suture device. Figure 12 This is a schematic diagram of another suture provided according to an embodiment of the present disclosure. Figure 12 As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce the tissue to be gripped, and the first spiral portion 212 is configured to rotate and spiral into the tissue to be gripped, thereby forming a first channel (spiral channel) inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. It should be noted that the connection between the drive flexible shaft and the first spiral portion includes both direct connection and indirect connection through other parts or components.

[0103] like Figure 12 As shown, the spiral gripping drive mechanism 110 includes a spiral drive assembly 120; the spiral drive assembly 120 includes a first drive motor 121 and a spiral transmission assembly 122. The spiral transmission assembly 122 is connected to the drive flexible shaft 233. The first drive motor 121 is configured to drive the drive flexible shaft 233 to rotate around the axis of the drive flexible shaft 233 through the spiral transmission assembly 122, thereby driving the first spiral part 212 and the gripping tip 211 to rotate.

[0104] In the suture device provided in this embodiment, a first drive motor is configured to drive a drive shaft to rotate around its axis via a helical transmission assembly, thereby driving the first helical portion and the grasping tip to rotate. Thus, the suture device can electrically drive the first helical portion and the grasping tip to rotate, causing the grasping tip to penetrate the tissue to be grasped, and forming a first channel within the tissue through the first helical portion, thereby grasping the tissue. This suture device eliminates the need for medical personnel to manually rotate the helical grasper, thus significantly reducing the workload and burden on medical staff and improving surgical efficiency. Furthermore, since the suture device can also electrically control the insertion depth of the helical grasper, it also improves safety and stability.

[0105] In some examples, such as Figure 12 As shown, the screw drive assembly 122 includes a connector 1220, which is connected between the output shaft of the first drive motor 121 and the drive flexible shaft 233. The first drive motor 121 drives the connector 1220 to rotate by rotating the output shaft, thereby driving the drive flexible shaft 233 to rotate around the axis of the drive flexible shaft 233.

[0106] In some examples, such as Figure 12 As shown, the output shaft of the first drive motor 121 is fixedly connected to the connector 1220 to drive the connector 1220 to rotate; the connector 1220 is fixedly connected to the drive flexible shaft 233.

[0107] In some examples, such as Figure 12 The connector 1220 described above is cylindrical. Of course, embodiments of this disclosure include, but are not limited to, this.

[0108] In some examples, such as Figure 12 As shown, the stitcher 900 also includes a first limiting structure 140, which includes a limiting groove 142; the connector 1220 is at least partially located in the limiting groove 142, and the limiting groove 142 is configured to limit the radial movement of the connector 1220. Thus, during the rotation of the connector 1220, the limiting groove 142 can limit the radial movement of the connector 1220, thereby making the rotation of the first helical portion 212 and the gripping tip 211 more stable.

[0109] In some examples, such as Figure 12As shown, the first limiting structure 140 includes a first plate-shaped structure 140A and a second plate-shaped structure 140B spaced apart. The first plate-shaped structure 140A includes a first limiting groove 142A, and the second plate-shaped structure 140B includes a second limiting groove 142B. The first limiting groove 142A and the second limiting groove 142B are arranged opposite to and parallel to each other, and are configured to partially accommodate the aforementioned helical drive assembly 122. Thus, by providing multiple limiting grooves, the stitcher can better facilitate the radial movement of the connector 1220.

[0110] In some examples, such as Figure 12 As shown, the first limiting structure 140 also includes a third plate-shaped structure 140C, which includes a third limiting groove 142C; the third limiting groove 142C and the second limiting groove 142B are arranged opposite to and parallel to each other, and are configured to accommodate the aforementioned screw drive assembly 122.

[0111] In some examples, such as Figure 12 As shown, the spiral gripping drive mechanism 110 also includes a displacement drive assembly 130, which includes a second drive motor 131 and a displacement transmission assembly 132. The displacement transmission assembly 132 is connected to the spiral drive assembly 120, for example, to the first drive motor 121 and the first transmission assembly 122. The second drive motor 131 is configured to drive the spiral drive assembly 120 to move via the displacement transmission assembly 132. Since the first drive motor 121 is adjacent to the drive flexible shaft 233 via the spiral transmission assembly 122, the second drive motor 121 can drive the spiral drive assembly 120 to move via the displacement transmission assembly 132, thereby causing the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233, and further driving the first spiral part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233. Thus, the suture device can not only drive the first spiral part and the gripping tip to rotate electrically, but also drive the first spiral part and the gripping tip to move forward and backward electrically, thereby coordinating rotation to grip or release the tissue to be gripped.

[0112] For example, the suture device can use a first drive motor to drive the first helical section and the grasping tip to rotate, so that the grasping tip pierces the tissue to be grasped. Then, through the cooperation of the first drive motor and the second drive motor, the first helical section is rotated and moved forward to form a first channel inside the tissue to be grasped, thereby grasping the tissue. As another example, when it is necessary to release the tissue, the first drive motor and the second drive motor can cooperate to rotate the first helical section and move it backward, so that the first helical section gradually withdraws from the tissue, thereby releasing the tissue.

[0113] It is worth noting that, although Figure 12The illustrated helical gripping drive mechanism 110 includes both a helical drive assembly 120 and a displacement drive assembly 130. However, embodiments of this disclosure include, but are not limited to, the helical gripping drive mechanism may also include only a helical drive assembly or a displacement drive assembly. This can reduce the workload and burden on medical staff and improve surgical efficiency. When the helical gripping drive mechanism includes only a helical drive assembly, medical staff can manually drive the first helical part and the gripping tip to move along the axis of the drive flexible shaft. When the helical gripping drive mechanism includes only a displacement drive assembly, medical staff can manually drive the first helical part and the gripping tip to rotate.

[0114] In some examples, such as Figure 12 As shown, the suture device 900 also includes a second limiting structure 150, located on the side of the helical transmission assembly 122 away from the first drive motor 121, and includes a limiting through hole 152. The helical gripper 200 also includes a protective sleeve 240, sleeved on the drive flexible shaft 233; the protective sleeve 240 is located on the side of the second limiting structure 150 away from the helical transmission assembly 122, and the proximal end of the protective sleeve 240 is fixedly connected to the second limiting structure, or the proximal end of the protective sleeve 240 is fixedly connected to the control box.

[0115] For example, the drive flexible shaft 233 passes through the limiting through hole 152 in the second limiting structure 150 from one side of the screw drive assembly 122 to enter the protective sleeve 240. The size of the limiting through hole 152 is smaller than the size of the protective sleeve 240. Therefore, since the protective sleeve 240 is fixed and cannot move, when the displacement drive assembly 130 drives the first helical part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233, the first helical part 212 and the gripping tip 211 can move relative to the protective sleeve 240, thereby extending or retracting the protective sleeve 240.

[0116] In some examples, such as Figure 12 As shown, the suture 900 includes a control box fixedly connected to the suture 900; the spiral gripper 200 also includes a protective sleeve 240, which is sleeved on the drive flexible shaft 233; the protective sleeve 240 is located on the side of the spiral transmission assembly 122 away from the first drive motor 121, and is fixedly connected to the second limiting structure 150.

[0117] It should be noted that, as Figure 12 As shown, the outer diameter of the first spiral portion 212 is smaller than the inner diameter of the protective sleeve 240. On the one hand, the protective sleeve 240 can prevent the spiral gripping portion 210 from scratching other tissues or objects during the process of being fed into the designated position; on the other hand, the protective sleeve 240 can also protect the drive flexible shaft 233.

[0118] With this configuration, when the spiral gripper grasps the tissue to be grasped, the first spiral part and the gripping tip can extend out of the protective sleeve, the gripping tip can penetrate into the tissue to be grasped, and the first spiral part can rotate to spiral into the inside of the tissue to be grasped, thereby forming a first channel inside the tissue to be grasped, and the tissue to be grasped is grasped by the cooperation between the first spiral part and the first channel; during the process of the spiral gripper being sent to the designated position, or when it is taken out from the designated position, the first spiral part and the gripping tip can retract into the protective sleeve to prevent the gripping tip from scratching other tissues or objects, thereby improving safety.

[0119] In some examples, such as Figure 12 As shown, the helical drive assembly 120 of the suture device 900 also includes a first motor mounting base 161, to which the first drive motor 121 is fixedly connected; the displacement transmission assembly 132 is connected to the first drive motor 121, or the first motor mounting base 161 and the helical drive assembly 122. Since the first drive motor 121 is fixed to the first motor mounting base 161, when the displacement transmission assembly 132 is connected to the first drive motor 121 or the first motor mounting base 161, the second drive motor 131 is configured to drive the first drive motor 121 or the first motor mounting base 161 to move via the displacement transmission assembly 132, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233. For example, the displacement transmission assembly 132 is connected to the helical drive assembly 122, and the helical drive assembly 122 is connected to the drive flexible shaft 233, allowing the displacement transmission assembly 132 to drive the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233.

[0120] In some examples, such as Figure 12 As shown, when the second drive motor 131 drives the first drive motor 121 or the first motor mounting base 161 to move through the displacement transmission assembly 132, the first drive motor 121 and the drive flexible shaft 233 are fixedly connected in the extension direction of the axis of the drive flexible shaft 233 through the connector 1220, so as to facilitate the transmission of driving force.

[0121] In some examples, such as Figure 12As shown, the first drive motor 121 is fixed to the first motor mounting base 161; the displacement transmission assembly 132 is connected to the first motor mounting base 161. Thus, the second drive motor 131 can drive the first motor mounting base 161 to move via the displacement transmission assembly 132, thereby moving the first drive motor 121. Since the first drive motor vibrates during operation, and the typical drive motor structure is compact, connecting the displacement transmission assembly is not conducive to its installation. By connecting the displacement transmission assembly to the first motor mounting base, the movement of the first drive motor becomes more stable, and the aforementioned displacement transmission assembly is easier to install. Of course, embodiments of this disclosure include, but are not limited to, this; the displacement transmission assembly can also be directly connected to the first drive motor.

[0122] In some examples, such as Figure 12 As shown, the displacement transmission assembly 132 includes a first transmission member 132A and a second transmission member 132B. The first transmission member 132A is connected to the output shaft of the second drive motor 131. The second transmission member 132B is configured to cooperate with the first transmission member 132A to convert the rotation of the output shaft of the second drive motor 131 into linear motion of the second transmission member 132B. The second transmission member 132B is fixedly connected to the first motor mounting base 161. Thus, the first and second transmission members can convert the rotation of the output shaft of the second drive motor into linear motion of the second transmission member. Since the second transmission member is fixedly connected to the first motor mounting base, it can drive the first motor mounting base to perform linear motion, thereby driving the first drive motor to move. Then, the movement of the first drive motor is transmitted to the drive flexible shaft through the connector, causing the drive flexible shaft to move, which in turn drives the gripping tip and the first helical part to move.

[0123] It is worth noting that the second transmission component can also be directly fixedly connected to the first drive motor, thereby directly driving the first drive motor to move.

[0124] In some examples, such as Figure 12 As shown, the first transmission component 132A includes a gear, and the second transmission component 132B includes a rack. When the first transmission component 132A includes a gear and the second transmission component 132B includes a rack, the first transmission component 132A can be sleeved on the output shaft of the second drive motor 131 and rotates with the rotation of the output shaft. The second transmission component 132B is fixed on the first motor mounting base 161. The first transmission component 132A and the second transmission component 132B mesh with each other, thereby converting the rotation of the output shaft of the second drive motor 131 into linear motion of the second transmission component 132B. Of course, the embodiments of this disclosure include, but are not limited to, the first transmission component and the second transmission component described above can also be other forms of components. For example, the first transmission component can be a lead screw, and the second transmission component can be a nut. The lead screw and the nut are configured to cooperate, thereby converting the rotation of the lead screw into linear motion of the nut.

[0125] Figure 13 for Figure 12 The diagram shows the disassembly of the suture device. (See attached diagram.) Figure 13 As shown, the suture device 900 also includes a control box 170, which includes a control box base 172, i.e., a base. The control box base 172 includes a first sliding connector 1725, and the first motor mounting base 161 includes a second sliding connector 1615. The first sliding connector 1725 and the second sliding connector 1615 are slidably connected, allowing the first motor mounting base 161 to slide relative to the control box base 172. Therefore, during the process of the second drive motor driving the first motor mounting base to move through the displacement transmission assembly, the first and second sliding connectors make the movement of the first motor mounting base more stable and reduce movement resistance. On the other hand, the sliding engagement between the first and second sliding connectors also limits the distance the first motor mounting base moves, thereby preventing the first and second transmission components from disengaging.

[0126] It should be noted that the control box 170 mentioned above and the control box 9100 mentioned above can be integrated into one unit or set up independently; this embodiment of the present disclosure is not specifically limited here.

[0127] For example, such as Figure 13 As shown, the first sliding connector 1725 can be a groove, and the second sliding connector 1615 can be a slider. Of course, the embodiments of this disclosure include, but are not limited to, other forms of elements may be used for the first and second sliding connectors.

[0128] Figure 14 for Figure 12 A schematic diagram of a partial structure of the suture device is shown. Figure 12 compared to, Figure 14 The second drive motor, screw drive assembly, and drive flexible shaft, among other components, are omitted. Figure 13 and Figure 14 As shown, the stitcher 200 also includes a pressing structure 180, which is fixed to the control box base 172 and configured to press the first motor mounting seat 161 or the first drive motor 121 against the control box base 172, thereby preventing the first drive motor from moving in a direction perpendicular to the control box base and preventing the first drive motor from detaching.

[0129] For example, such as Figure 14As shown, the aforementioned pressing structure 180 may include a first pressing structure 181 and a second pressing structure 182. The first pressing structure 181 is fixed to the control box base 172 and located on the first side of the first motor mounting base 161. The second pressing structure 182 is fixed to the control box base 172 and located on the second side of the first motor mounting base 161. The first side and the second side are opposite sides. The first pressing structure 181 includes a first pressing part 181P, and the second pressing structure 182 includes a second pressing part 182P. The first pressing part 181P and the second pressing part 182P respectively extend to the side of the first motor mounting base 161 away from the control box base 172, and press the first motor mounting base 161 against the control box base 172. The aforementioned first pressing structure 181 and the second pressing structure 182 not only press the first motor mounting base 161 against the control box base 172, but also prevent the control box base 172 from moving in a direction perpendicular to its sliding direction, further preventing the first motor mounting base from detaching from the control box base.

[0130] In some examples, such as Figure 12 As shown, the suture 900 also includes a second motor mounting base 162; the second drive motor 131 is fixedly mounted on the second motor mounting base 162.

[0131] One embodiment of this disclosure also provides another suture device. For example... Figure 12 As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and screw into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. It should be noted that the connection between the drive flexible shaft and the first spiral portion includes both direct connection and indirect connection through other parts or components.

[0132] like Figure 12 As shown, the spiral gripping drive mechanism 110 includes a displacement drive assembly 130; the displacement drive assembly 130 includes a second drive motor 131 and a displacement transmission assembly 132, the second drive motor 131 being configured to drive the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233 via the displacement transmission assembly 132.

[0133] In the suture device provided in this embodiment, a second drive motor drives a drive shaft to move along the axis of the drive shaft via a displacement transmission assembly, thereby driving the first helical section and the grasping tip to move. Thus, the suture device can electrically drive the first helical section and the grasping tip. This suture device eliminates the need for medical personnel to manually move the helical grasper, thereby significantly reducing the workload and burden on medical staff and improving surgical efficiency.

[0134] In some examples, such as Figure 12 As shown, the displacement transmission assembly 132 includes a first transmission member 132A and a second transmission member 132B. The first transmission member 132A is connected to the output shaft of the second drive motor 131. The second transmission member 132B is configured to cooperate with the first transmission member 132A to convert the rotation of the output shaft of the second drive motor 131 into linear motion of the second transmission member 132B. The second transmission member 132B is connected to the drive flexible shaft 233. It should be noted that the connection between the second transmission member and the drive flexible shaft includes both direct connection and indirect connection via other components.

[0135] In some examples, such as Figure 12 As shown, the first transmission component 132A includes a gear, and the second transmission component 132B includes a rack. When the first transmission component 132A includes a gear and the second transmission component 132B includes a rack, the first transmission component 132A can be sleeved on the output shaft of the second drive motor 131 and rotates with the rotation of the output shaft. The second transmission component 132B is fixed on the first motor mounting base 161. The first transmission component 132A and the second transmission component 132B mesh with each other, thereby converting the rotation of the output shaft of the second drive motor 131 into linear motion of the second transmission component 132B. Of course, the embodiments of this disclosure include, but are not limited to, the first transmission component and the second transmission component described above can also be other forms of components. For example, the first transmission component can be a lead screw, and the second transmission component can be a nut. The lead screw and the nut are configured to cooperate, thereby converting the rotation of the lead screw into linear motion of the nut.

[0136] Figure 15 This is a schematic diagram of another suture provided according to an embodiment of the present disclosure. Figure 15As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and spiral into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. The spiral gripping drive mechanism 110 includes a spiral drive assembly 120; the spiral drive assembly 120 includes a first drive motor 121 and a spiral transmission assembly 122. The spiral transmission assembly 122 is connected to the drive flexible shaft 233. The first drive motor 121 is configured to drive the drive flexible shaft 233 to rotate around the axis of the drive flexible shaft 233 through the spiral transmission assembly 122, thereby driving the first spiral part 212 and the gripping tip 211 to rotate.

[0137] In the suture device provided in this embodiment, a first drive motor is configured to drive a drive shaft to rotate around its axis via a helical transmission assembly, thereby driving the first helical portion and the grasping tip to rotate. Thus, the suture device can electrically drive the first helical portion and the grasping tip to rotate, causing the grasping tip to penetrate the tissue to be grasped, and forming a first channel within the tissue through the first helical portion, thereby grasping the tissue. This suture device eliminates the need for medical personnel to manually rotate the helical grasper, thus significantly reducing the workload and burden on medical staff and improving surgical efficiency. Furthermore, since the suture device can also electrically control the insertion depth of the helical grasper, it also improves safety and stability.

[0138] In some examples, such as Figure 15 As shown, the spiral gripping drive mechanism 110 also includes a displacement drive assembly 130, which includes a second drive motor 131 and a displacement transmission assembly 132. The displacement transmission assembly 132 is connected to the spiral transmission assembly 122, and the second drive motor 131 is configured to drive the spiral transmission assembly 122 to move via the displacement transmission assembly 132. Since the first drive motor 121 is adjacent to the drive flexible shaft 233 via the spiral transmission assembly 122, the second drive motor 121 can drive the spiral transmission assembly 122 to move via the displacement transmission assembly 132, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233, and further driving the first spiral part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233. Thus, the suture device can not only drive the first spiral part and the gripping tip to rotate electrically, but also drive the first spiral part and the gripping tip to move forward and backward electrically, thereby coordinating rotation to grip or release the tissue to be gripped.

[0139] For example, the suture device can use a first drive motor to drive the first helical section and the grasping tip to rotate, so that the grasping tip pierces the tissue to be grasped. Then, through the cooperation of the first drive motor and the second drive motor, the first helical section is rotated and moved forward to form a first channel inside the tissue to be grasped, thereby grasping the tissue. As another example, when it is necessary to release the tissue, the first drive motor and the second drive motor can cooperate to rotate the first helical section and move it backward, so that the first helical section gradually withdraws from the tissue, thereby releasing the tissue.

[0140] In some examples, such as Figure 15 As shown, the screw drive assembly 122 includes a connecting portion 1225 connected to the drive flexible shaft 233; for example, the connecting portion 1225 and the drive flexible shaft 233 can be connected by welding, threaded connection, or other methods. The displacement transmission assembly 132 is connected to the screw drive assembly 122, and the second drive motor 131 is configured to drive the connecting portion 1225 to move via the displacement transmission assembly 132, thereby causing the drive flexible shaft 233 to move along its axis. Since the connecting portion of the screw drive assembly is connected to the drive flexible shaft, when the second drive motor is configured to drive the connecting portion to move via the displacement transmission assembly, the connecting portion can drive the drive flexible shaft to move. Therefore, with... Figure 12 The suture device shown is different, Figure 15 The suture device shown connects a displacement transmission assembly to a screw drive assembly, and moves the drive shaft by rotating the screw drive assembly. Furthermore, since the mass of the screw drive assembly is less than the mass of the first drive motor, the above method can reduce the load on the second drive motor.

[0141] In some examples, such as Figure 15 As shown, the screw drive assembly 122 also includes a first torque transmission part 1221 and a second torque transmission part 1222; the first torque transmission part 1221 is connected to the connecting part 1225, for example, in a fixed connection. Torque, thrust, and tension can be transmitted between the first torque transmission part 1221 and the connecting part 1225. It should be noted that the first torque transmission part 1221 and the connecting part 1225 can be integrated into a single structure.

[0142] like Figure 15As shown, the displacement transmission assembly 132 is connected to the first torque transmission part 1221. One end of the second torque transmission part 1222 is connected to the output shaft of the first drive motor 121, and the other end of the second torque transmission part 1222 is connected to the first torque transmission part 1221 to transmit torque, and is slidably connected in the axial direction of the output shaft of the first drive motor 121. That is, the first torque transmission part 1221 and the second torque transmission part 1222 can transmit torque to each other, but they can also slide relative to each other. Thus, the first drive electrode can transmit torque to the first torque transmission part through the second torque transmission part, thereby driving the first torque transmission part to rotate, and in turn driving the drive flexible shaft to rotate. At the same time, since the first torque transmission part and the second torque transmission part can slide relative to each other, the second drive motor can drive the first torque transmission part to slide relative to the second torque transmission part through the displacement transmission assembly, thereby driving the drive flexible shaft to move.

[0143] With this configuration, the suture device can not only electrically drive the first spiral section and the grasping tip to rotate, but also electrically drive the first spiral section and the grasping tip to move forward and backward, thereby coordinating rotation to grasp or release the tissue to be grasped. Furthermore, since the mass of the first torque transmission section is less than the mass of the first drive motor, the suture device can also reduce the load on the second drive electrode.

[0144] The following is about Figure 15 An exemplary operation of the suture device is described below. When it is necessary to grasp the tissue to be grasped, the suture device drives the second torque transmission unit to rotate via the rotation of the output shaft of the first drive motor. The second torque transmission unit then transmits torque to the first torque transmission unit, causing it to rotate, which in turn drives the drive shaft to rotate. The rotation of the drive shaft drives the first helical part and the grasping tip to rotate, allowing the grasping tip to penetrate the tissue to be grasped. Then, the suture device, via the second drive motor and a displacement transmission assembly, drives the first torque transmission unit to slide relative to the second torque transmission unit, thereby moving the drive shaft. The movement of the drive shaft moves the first helical part and the grasping tip. At this time, through the cooperation of the first and second drive motors, the suture device causes the first helical part to rotate and move forward, forming a first channel within the tissue to be grasped, thus grasping the tissue. When it is necessary to release the tissue, through the cooperation of the first and second drive motors, the suture device causes the first helical part to rotate and move backward, gradually withdrawing the first helical part from the tissue, thereby releasing the tissue.

[0145] It is worth noting that, although Figure 15The illustrated helical gripping drive mechanism 110 includes both a helical drive assembly 120 and a displacement drive assembly 130. However, embodiments of this disclosure include, but are not limited to, the helical gripping drive mechanism may also include only a helical drive assembly or a displacement drive assembly. This can reduce the workload and burden on medical staff and improve surgical efficiency. When the helical gripping drive mechanism includes only a helical drive assembly, medical staff can manually drive the first helical part and the gripping tip to move along the axis of the drive flexible shaft. When the helical gripping drive mechanism includes only a displacement drive assembly, medical staff can manually drive the first helical part and the gripping tip to rotate.

[0146] In some examples, such as Figure 15 As shown, the displacement transmission assembly 132 includes a third transmission member 132A, a fourth transmission member 132B, and a transmission connection portion 132C. The third transmission member 132A is connected to the output shaft of the second drive motor 131. The fourth transmission member 132B is configured to cooperate with the third transmission member 132A to convert the rotation of the output shaft of the second drive motor 131 into linear motion of the fourth transmission member 132. The transmission connection portion 132C is connected to the first torque transmission portion 1221 and the fourth transmission member 132B, respectively. The second drive motor 131 is configured to drive the first torque transmission portion 1221 to move via the third transmission member 132A, the fourth transmission member 132B, and the transmission connection portion 132C, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233. Therefore, the rotation of the output shaft of the second drive motor can drive the rotation of the third transmission component. Through the cooperation between the fourth transmission component and the third transmission component, the rotation of the third transmission component can be converted into the linear motion of the fourth transmission component. Since the transmission connection part is connected to the first torque transmission part and the fourth transmission component respectively, the linear motion of the fourth transmission component can drive the first torque transmission part to perform linear motion, thereby driving the drive flexible shaft to move along the axis of the drive flexible shaft.

[0147] For example, such as Figure 15 As shown, the third transmission component 132A can be a gear, and the fourth transmission component 132B can be a rack. Of course, the embodiments disclosed herein are not limited to this; the third and fourth transmission components can also take other forms, as long as the rotation of the output shaft of the second drive motor can be converted into linear motion of the fourth transmission component. For example, the third transmission component can be a lead screw, and the fourth transmission component can be a nut, with the lead screw and nut working together to convert the rotation of the lead screw into linear motion of the nut.

[0148] In some examples, such as Figure 15As shown, the screw drive assembly 122 includes a connecting portion 1226 connected between the first drive motor 121 and the drive flexible shaft 233; the displacement drive assembly 132 is connected to the connecting portion 1226, and the second drive motor 131 is configured to drive the connecting portion 1226 to move through the displacement drive assembly 132, so as to drive the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233.

[0149] In some examples, such as Figure 15 As shown, the connecting part 1226 includes a first torque transmission part 1221 connected to the drive flexible shaft 233; and a second torque transmission part 1222 connected to or disposed on the output shaft of the first drive motor 121; the second torque transmission part 1222 and the first torque transmission part 1221 are slidably connected in the axial direction of the output shaft of the first drive motor 121 to transmit torque; the displacement transmission assembly 132 is connected to the first torque transmission part 1221.

[0150] With this configuration, the suture device can not only electrically drive the first spiral section and the grasping tip to rotate, but also electrically drive the first spiral section and the grasping tip to move forward and backward, thereby coordinating rotation to grasp or release the tissue to be grasped. Furthermore, since the mass of the first torque transmission section is less than the mass of the first drive motor, the suture device can also reduce the load on the second drive electrode. Figure 16 This is a schematic diagram of the structure of a first torque transmission part and a second torque transmission part in a suture device according to an embodiment of this disclosure. Figure 16 As shown, the first torque transmission part 1221 includes a connecting hole 1251, and the second torque transmission part 1222 includes a connecting rod 1252. The connecting rod 1252 is at least partially located within the connecting hole 1251 and slides within it. The cross-sectional shape of the connecting rod 1252 is the same as the cross-sectional shape of the connecting hole 1251. Therefore, the first torque transmission part and the second torque transmission part can transmit torque to each other and slide against each other. For example, the cross-sectional shape of the connecting rod 1252 may be non-circular, such as a polygon. It should be noted that some edges of the polygon in this embodiment may be arcs, and are not limited to straight lines. That is, the polygon can be non-circular.

[0151] It is worth noting that, in order to achieve torque transmission and sliding, the first torque transmission part may include a connecting rod, while the second torque transmission part may include a connecting hole. That is, one of the first torque transmission part and the second torque transmission part includes a connecting hole, and the other of the first torque transmission part and the second torque transmission part includes a connecting rod.

[0152] For example, the polygons mentioned above may include any one of triangles, rectangles, squares, trapezoids, pentagons, hexagons, and octagons.

[0153] In some examples, such as Figure 15 As shown, the aforementioned transmission connection 132C may include a slot 1325 and limiting holes 1326 located on both sides of the slot 1325; the first torque transmission part 1221 includes a protrusion 1221P located in the slot 1325; the first torque transmission part 1221 can pass through the limiting holes 1326 on both sides of the slot 1325. Thus, the transmission connection 132C can apply a force from the slot 1325 to the protrusion 1221P, thereby driving the first torque transmission part 1221 to move; the limiting holes 1326 can restrict the radial movement of the first torque transmission part 1221, thereby making the rotation of the first torque transmission part 1221 more stable.

[0154] In some examples, such as Figure 15 As shown, the suture device 900 also includes a second limiting structure 150 located on the side of the helical transmission assembly 122 away from the first drive motor 121, and includes a limiting through hole 152. The helical gripper 200 also includes a protective sleeve 240 sleeved on the drive flexible shaft 233; the protective sleeve 240 is located on the side of the second limiting structure 150 away from the helical transmission assembly 122, and the proximal end of the protective sleeve 240 is fixedly connected to the second limiting structure 150, or the proximal end of the protective sleeve 240 is fixedly connected to the control box.

[0155] For example, the drive flexible shaft 233 passes through the limiting through hole 152 in the second limiting structure 150 from one side of the screw drive assembly 122 to enter the protective sleeve 240. The size of the limiting through hole 152 is smaller than the size of the protective sleeve 240. Therefore, since the protective sleeve 240 is fixed and cannot move, when the displacement drive assembly 130 drives the first helical part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233, the first helical part 212 and the gripping tip 211 can move relative to the protective sleeve 240, thereby extending or retracting the protective sleeve 240.

[0156] It should be noted that, as Figure 15 As shown, the outer diameter of the first spiral portion 212 is smaller than the inner diameter of the protective sleeve 240. On the one hand, the protective sleeve 240 can prevent the spiral gripping portion 210 from scratching other tissues or objects during the process of being fed into the designated position; on the other hand, the protective sleeve 240 can also protect the drive flexible shaft 233.

[0157] With this configuration, when the spiral gripper grasps the tissue to be grasped, the first spiral part and the gripping tip can extend out of the protective sleeve, the gripping tip can penetrate into the tissue to be grasped, and the first spiral part can rotate to spiral into the inside of the tissue to be grasped, thereby forming a first channel inside the tissue to be grasped, and the tissue to be grasped is grasped by the cooperation between the first spiral part and the first channel; during the process of the spiral gripper being sent to the designated position, or when it is taken out from the designated position, the first spiral part and the gripping tip can retract into the protective sleeve to prevent the gripping tip from scratching other tissues or objects, thereby improving safety.

[0158] Figure 17 A schematic diagram of another suture device is provided for one embodiment of this disclosure. For example... Figure 17 As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and spiral into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. The spiral gripping drive mechanism 110 includes a spiral drive assembly 120; the spiral drive assembly 120 includes a first drive motor 121 and a spiral transmission assembly 122. The spiral transmission assembly 122 is connected to the drive flexible shaft 233. The first drive motor 121 is configured to drive the drive flexible shaft 233 to rotate around the axis of the drive flexible shaft 233 through the spiral transmission assembly 122, thereby driving the first spiral part 212 and the gripping tip 211 to rotate.

[0159] In the suture device provided in this embodiment, a first drive motor is configured to drive a drive shaft to rotate around its axis via a helical transmission assembly, thereby driving the first helical portion and the grasping tip to rotate. Thus, the suture device can electrically drive the first helical portion and the grasping tip to rotate, causing the grasping tip to penetrate the tissue to be grasped, and forming a first channel within the tissue through the first helical portion, thereby grasping the tissue. This suture device eliminates the need for medical personnel to manually rotate the helical grasper, thus significantly reducing the workload and burden on medical staff and improving surgical efficiency. Furthermore, since the suture device can also electrically control the insertion depth of the helical grasper, it also improves safety and stability.

[0160] In some examples, such as Figure 17As shown, the spiral gripping drive mechanism 110 also includes a displacement drive assembly 130, which includes a second drive motor 131 and a displacement transmission assembly 132. The displacement transmission assembly 132 is connected to the spiral transmission assembly 122, and the second drive motor 131 is configured to drive the spiral transmission assembly 122 to move via the displacement transmission assembly 132. Since the first drive motor 121 is adjacent to the drive flexible shaft 233 via the spiral transmission assembly 122, the second drive motor 121 can drive the spiral transmission assembly 122 to move via the displacement transmission assembly 132, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233, and further driving the first spiral part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233. Thus, the suture device can not only drive the first spiral part and the gripping tip to rotate electrically, but also drive the first spiral part and the gripping tip to move forward and backward electrically, thereby coordinating rotation to grip or release the tissue to be gripped.

[0161] For example, the suture device can use a first drive motor to drive the first helical section and the grasping tip to rotate, so that the grasping tip pierces the tissue to be grasped. Then, through the cooperation of the first drive motor and the second drive motor, the first helical section is rotated and moved forward to form a first channel inside the tissue to be grasped, thereby grasping the tissue. As another example, when it is necessary to release the tissue, the first drive motor and the second drive motor can cooperate to rotate the first helical section and move it backward, so that the first helical section gradually withdraws from the tissue, thereby releasing the tissue.

[0162] In some examples, such as Figure 17 As shown, the screw drive assembly 122 includes a connecting portion 1225 connected to the drive flexible shaft 233; for example, the connecting portion 1225 and the drive flexible shaft 233 can be connected by welding, threaded connection, or other methods. The screw drive assembly 122 also includes a third torque transmission portion 1223, which is connected to the connecting portion 1225; the moving transmission assembly 132 is connected to the third torque transmission portion 1223, which includes an output shaft receiving hole 1253. The output shaft 1215 of the first drive motor 121 is at least partially located in the output shaft receiving hole 1253 and slides in cooperation with it; the cross-sectional shape of the output shaft receiving hole 1253 includes a polygon, and the cross-sectional shape of the output shaft 1215 of the first drive motor 121 is the same as the cross-sectional shape of the output shaft receiving hole 1253. That is to say, Figure 17 The stitcher shown directly sets the cross-section of the output shaft of the first drive motor to a polygon, so that it can cooperate with the third torque transmission part to transmit torque while also sliding against each other.

[0163] In the aforementioned suture device, the first drive electrode can directly transmit torque through its output axis to the third torque transmission part, thereby driving the third torque transmission part to rotate, which in turn drives the drive flexible shaft to rotate. Simultaneously, since the output shaft of the first drive electrode and the third torque transmission part can slide relative to each other, the second drive motor can drive the third torque transmission part to slide relative to the output shaft of the first drive motor via a displacement transmission assembly, thereby driving the drive flexible shaft to move.

[0164] With this configuration, the suture device can not only electrically drive the first spiral section and the grasping tip to rotate, but also electrically drive the first spiral section and the grasping tip to move forward and backward, thereby coordinating rotation to grasp or release the tissue to be grasped. Furthermore, since the mass of the first torque transmission section is less than the mass of the first drive motor, the suture device can also reduce the load on the second drive electrode.

[0165] For example, the polygons mentioned above may include any one of triangles, rectangles, squares, trapezoids, pentagons, hexagons, and octagons.

[0166] Figure 18 This is a schematic diagram of another suture provided according to an embodiment of the present disclosure. Figure 18 As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and spiral into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. The spiral gripping drive mechanism 110 includes a spiral drive assembly 120; the spiral drive assembly 120 includes a first drive motor 121 and a spiral transmission assembly 122. The spiral transmission assembly 122 is connected to the drive flexible shaft 233. The first drive motor 121 is configured to drive the drive flexible shaft 233 to rotate around the axis of the drive flexible shaft 233 through the spiral transmission assembly 122, thereby driving the first spiral part 212 and the gripping tip 211 to rotate.

[0167] In the suture device provided in this embodiment, a first drive motor is configured to drive a drive shaft to rotate around its axis via a helical transmission assembly, thereby driving the first helical portion and the grasping tip to rotate. Thus, the suture device can electrically drive the first helical portion and the grasping tip to rotate, causing the grasping tip to penetrate the tissue to be grasped, and forming a first channel within the tissue through the first helical portion, thereby grasping the tissue. This suture device eliminates the need for medical personnel to manually rotate the helical grasper, thus significantly reducing the workload and burden on medical staff and improving surgical efficiency. Furthermore, since the suture device can also electrically control the insertion depth of the helical grasper, it also improves safety and stability.

[0168] In some examples, such as Figure 18 As shown, the spiral gripping drive mechanism 110 also includes a displacement drive assembly 130, which includes a second drive motor 131 and a displacement transmission assembly 132. The suture 900 also includes a first motor mounting base 161, to which the first drive motor 121 is fixed; the displacement transmission assembly 132 is connected to either the first drive motor 121 or the first motor mounting base 161. Since the first drive motor 121 is fixed to the first motor mounting base 161, when the displacement transmission assembly 132 is connected to either the first drive motor 121 or the first motor mounting base 161, the second drive motor 131 is configured to drive the first drive motor 121 or the first motor mounting base 161 to move via the displacement transmission assembly 132, thereby causing the drive flexible shaft 233 to move along its axis. Thus, the suture can drive the drive flexible shaft to move along its axis by driving the first drive motor, instead of directly driving the drive flexible shaft, reducing the complexity of the spiral gripping drive mechanism and lowering costs.

[0169] In some examples, such as Figure 18 As shown, the second drive motor 131 is a push-pull motor. One end of the displacement transmission component 132 is connected to the first motor mounting base 161 or the first drive motor 121, and the other end of the displacement transmission component 132 is connected to the output shaft of the push-pull motor 131. Thus, the push-pull motor can directly drive the first motor mounting base 161 or the first drive motor 121 to move through the push-pull motion or linear motion of the output shaft, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233.

[0170] With this configuration, the suture device can not only electrically drive the first spiral section and the grasping tip to rotate, but also electrically drive the first spiral section and the grasping tip to move forward and backward, thereby coordinating rotation to grasp or release the tissue to be grasped. Furthermore, since the second drive electrode is a push-pull motor, the structural design of the displacement transmission assembly is simpler and more compact.

[0171] In some examples, such as Figure 18 As shown, the suture device 900 includes a displacement drive assembly 130, which includes a second drive motor 131. The second drive motor 131 includes a push-pull motor connected to the spiral drive assembly 120. The push-pull motor drives the spiral drive assembly 120 to move by pushing and pulling its output shaft, thereby driving the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233, and further driving the spiral part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233.

[0172] The following is about Figure 18 An exemplary operation of the suture device is described below. When it is necessary to grasp the tissue to be grasped, the suture device drives the helical transmission assembly to rotate via the rotation of the output shaft of the first drive motor, thereby driving the drive flexible shaft to rotate. The rotation of the drive flexible shaft drives the first helical part and the grasping tip to rotate, so that the grasping tip pierces the tissue to be grasped. Then, the suture device can directly drive the first drive motor to slide via the displacement transmission assembly via the second drive motor, thereby driving the drive flexible shaft to move. The movement of the drive flexible shaft drives the first helical part and the grasping tip to move. At this time, through the cooperation of the first drive motor and the second drive motor, the suture device can cause the first helical part to rotate and move forward to form a first channel inside the tissue to be grasped, thereby grasping the tissue to be grasped. When it is necessary to release the tissue to be grasped, through the cooperation of the first drive motor and the second drive motor, the suture device can cause the first helical part to rotate and move backward, so that the rotation of the first helical part gradually withdraws from the tissue to be grasped, thereby releasing the tissue to be grasped.

[0173] It is worth noting that, although Figure 18 The illustrated helical gripping drive mechanism 110 includes both a helical drive assembly 120 and a displacement drive assembly 130. However, embodiments of this disclosure include, but are not limited to, the helical gripping drive mechanism may also include only a helical drive assembly or a displacement drive assembly. This can reduce the workload and burden on medical staff and improve surgical efficiency. When the helical gripping drive mechanism includes only a helical drive assembly, medical staff can manually drive the first helical part and the gripping tip to move along the axis of the drive flexible shaft. When the helical gripping drive mechanism includes only a displacement drive assembly, medical staff can manually drive the first helical part and the gripping tip to rotate.

[0174] For example, such as Figure 18 As shown, one end of the displacement transmission assembly 132 is connected to the first drive motor 121. Of course, embodiments of this disclosure include, but are not limited to, the displacement transmission assembly may also be connected to the first motor mounting base.

[0175] In some examples, such as Figure 18As shown, the second drive motor 131 is located on the side of the first drive motor 121 or the first motor mounting base 161 away from the screw transmission assembly 122. The second drive motor 131 drives the first drive motor 121 or the first motor mounting base 161 to move by pushing and pulling the output shaft.

[0176] In some examples, such as Figure 18 As shown, the suture device 900 also includes a first limiting structure 140 and a second limiting structure 150; the structure and function of the first limiting structure 140 and the second limiting structure 150 can be found in [reference needed]. Figure 11 The relevant descriptions will not be repeated here.

[0177] One embodiment of this disclosure also provides another suture device. For example... Figure 18 As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and screw into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. It should be noted that the connection between the drive flexible shaft and the first spiral portion includes both direct connection and indirect connection through other parts or components.

[0178] like Figure 18 As shown, the spiral gripping drive mechanism 110 includes a displacement drive assembly 130; the displacement drive assembly 130 includes a second drive motor 131 and a displacement transmission assembly 132. The second drive motor 131 is configured to drive the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233 through the displacement transmission assembly 132, thereby driving the first spiral part 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233.

[0179] In the suture device provided in this embodiment, a second drive motor drives a drive shaft to move along the axis of the drive shaft via a displacement transmission assembly, thereby driving the first helical section and the grasping tip to move. Thus, the suture device can electrically drive the first helical section and the grasping tip. This suture device eliminates the need for medical personnel to manually move the helical grasper, thereby significantly reducing the workload and burden on medical staff and improving surgical efficiency.

[0180] In some examples, such as Figure 18As shown, the second drive motor 131 is a push-pull motor. One end of the displacement transmission component 132 is connected to the drive flexible shaft 233, and the other end of the displacement transmission component 132 is connected to the output shaft of the push-pull motor 131. It should be noted that the connection of one end of the displacement transmission component to the drive flexible shaft includes both direct connection and indirect connection via other components. Therefore, the drive flexible shaft can be moved along its axis by directly pushing and pulling the drive flexible shaft using the second drive motor.

[0181] Figure 19 This is a schematic diagram of the structure of a spiral gripper in a suture apparatus according to an embodiment of the present disclosure. Figure 19 As shown, the spiral gripper 200 includes a spiral gripping portion 210 and a stop portion 220. The spiral gripping portion 210 includes the aforementioned gripping tip 211 and the aforementioned first spiral portion 212. The gripping tip 211 is configured to pierce into the tissue to be gripped, and the first spiral portion 212 is configured to rotate and spiral into the tissue to be gripped, thereby forming a first channel inside the tissue. The tissue to be gripped is gripped through the cooperation between the first spiral portion and the first channel. The stop portion 220 is connected to the first spiral portion 212, and the radial dimension of the stop portion 220 is less than or equal to the radial dimension of the first spiral portion 212. The radial direction is perpendicular to the extension direction of the spiral axis of the first spiral portion 212. The extension trajectory of the stop portion 220 is different from the extension trajectory of the spiral filament in the first spiral portion 212.

[0182] For example, such as Figure 19 As shown, the stop portion 220 is connected to the proximal end of the first spiral portion 212; the distal end of the first spiral portion 212 is connected to the gripping tip 211.

[0183] In the suture device provided in this embodiment, the grasping tip is used to pierce the tissue to be grasped, and then the first helical portion is configured to form a first channel inside the tissue to be grasped through its own rotation and forward movement. After the first helical portion of the spiral grasper is screwed into the tissue, since the extension trajectory of the stop portion is different from the extension trajectory of the spiral filament in the first helical portion, the stop portion is not easy to enter the first channel formed by the first helical portion, thus effectively preventing further screwing in; that is, when the first helical portion is completely screwed into the tissue to be grasped, the stop portion will not continue to enter the tissue to be grasped, and the length of the first helical portion is the screwing depth of the spiral grasper. Thus, the spiral grasper can effectively control the screwing depth of the spiral grasper. At the same time, since the radial dimension of the stop portion is less than or equal to the radial dimension of the first helical portion, the stop portion does not need to increase its volume to stop entering the tissue to be grasped, thus making the spiral grasper have a smaller radial dimension, which is beneficial for integration into endoscopes or suture devices used with endoscopes.

[0184] It should be noted that some spiral grippers control the spiral gripper's insertion depth by forming or welding a large columnar blocking part after the spiral gripper. This method increases both the radial dimension and weight of the spiral gripper, making it unsuitable for integration into endoscopes or suture devices used with endoscopes.

[0185] In some examples, such as Figure 19 As shown, the stop portion 220 includes a second helical portion 222, the helical direction of which is opposite to that of the first helical portion 212. On one hand, because the helical direction of the second helical portion is opposite to that of the first helical portion, the extension trajectory of the helical wire in the second helical portion differs significantly from that in the first helical portion, thus effectively preventing further screwing in. On the other hand, the second helical portion has a simple structure and is easy to manufacture. Furthermore, since the second helical portion can have a larger contact area with the driving component mentioned later, it can be more firmly fixed, making the movement of the spiral gripper more stable.

[0186] In some examples, the first spiral section described above may be called the forward spiral section, and the second spiral section may be called the reverse spiral section.

[0187] Of course, the stop portion provided in this embodiment includes, but is not limited to, the second spiral portion described above. Other forms may also be adopted, as long as the extension trajectory of the stop portion is different from the extension trajectory of the spiral wire in the first spiral portion, and the radial dimension of the stop portion is less than or equal to the radial dimension of the first spiral portion.

[0188] It is worth noting that the suture provided in the embodiments of this disclosure can also be used as follows: Figures 1 to 5 Any of the stitchers shown.

[0189] One embodiment of this disclosure also provides another suture device. For example... Figure 18As shown, the suture device 900 includes a spiral gripper 200 and a spiral gripping drive mechanism 110, which includes a displacement drive assembly 130. The spiral gripper 200 includes a gripping tip 211, a first spiral portion 212 connected to the gripping tip 211, and a drive flexible shaft 233 connected to the first spiral portion 212. The displacement drive assembly 130 includes a second drive motor 131, which is a push-pull motor. The output shaft of the push-pull motor is connected to the drive flexible shaft 233. The push-pull motor drives the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233 through the push-pull motion of its output shaft, thereby driving the first spiral portion 212 and the gripping tip 211 to move along the axis of the drive flexible shaft 233. The suture device 900 also includes a helical drive assembly 120 connected to the drive flexible shaft 233. The helical drive assembly 120 is configured to drive the drive flexible shaft 233 to rotate about the axis of the drive flexible shaft 233, thereby driving the first helical section 212 and the grasping tip 211 to rotate. The output shaft of a push-pull motor is connected to the helical drive assembly 130, and the push-pull motor is configured to drive the drive flexible shaft 233 to move along the axis of the drive flexible shaft 233 via the helical drive assembly 130. The helical drive assembly 120 includes a first drive motor 121, a helical transmission assembly 122, and a first motor mounting base 161. The first drive motor 121 is fixedly connected to the first motor mounting base 161. The displacement transmission assembly 130 is connected to the first drive motor 121, the first motor mounting base 161, or the helical transmission assembly 122. Thus, the suture device can electrically drive the first helical section and the grasping tip to rotate and move, so that the grasping tip penetrates the tissue to be grasped and forms a first channel inside the tissue to be grasped through the first helical section, thereby achieving the grasping of the tissue to be grasped. This suture device eliminates the need for medical staff to manually rotate the spiral gripper, thus significantly reducing their workload and improving surgical efficiency. Furthermore, because the device allows for precise, electrically controlled insertion depth of the spiral gripper, it also enhances safety and stability.

[0190] One embodiment of this disclosure also provides a suture device. Figure 20 This is a schematic diagram of the overall structure of a suture device according to an embodiment of the present disclosure. The suture device 900 may further include a controller 9200. The controller 9200 is communicatively connected to the control box 170, thereby sending control commands to the control box 170 to drive the suture device.

[0191] The following points need to be explained:

[0192] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure, and other structures can be referred to the general design.

[0193] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure may be combined with each other.

[0194] The above description is merely an exemplary embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure, which is determined by the appended claims.

Claims

1. A suture device, comprising: A spiral gripping portion includes a gripping tip and a first spiral portion connected to the gripping tip, the spiral gripping portion being configured to grip tissue through the gripping tip and the first spiral portion to bring the tissue into a state ready for suturing; and The stop portion is connected to the proximal end of the first spiral portion; The extension trajectory of the stop portion is different from the extension trajectory of the first spiral portion.

2. The suture device according to claim 1, wherein, The radial dimension of the stop portion is less than or equal to the radial dimension of the first spiral portion, and the radial direction is perpendicular to the extension direction of the spiral axis of the first spiral portion.

3. The suture device according to claim 1, wherein, The stop portion includes a straight extension portion.

4. The suture device according to claim 1, wherein, The stop portion includes a second spiral portion, the spiral direction of which is opposite to that of the first spiral portion.

5. The suture device according to any one of claims 1-4, further comprising: Drive components, The stop portion is connected to the drive member, which is configured to drive the first threaded portion and the gripping tip to move via the stop portion in order to grip tissue.

6. The suture device according to claim 5, wherein, The driving component includes: The connecting part is fixedly connected to the stop part; and A drive shaft is fixedly connected to the connecting part.

7. The suture device according to claim 6, wherein, The connecting part includes a spiral fixing part, which includes a fixing groove that is fixedly connected to the stop part, and at least a portion of the stop part is accommodated in the fixing groove.

8. The suture device according to claim 6, wherein, The connecting part includes a driving connecting part, which has a receiving space fixedly connected to the driving flexible shaft, and at least a portion of the driving flexible shaft is received within the receiving space.

9. The suture device according to claim 6, further comprising: A protective sleeve is fitted over the spiral gripping part, the stop part, and the drive flexible shaft. The drive shaft is configured to drive the spiral gripping part to move through the stop part, so that the spiral gripping part extends or retracts from the protective sleeve.

10. The suture device according to claim 9, wherein, At least one of the drive flexible shaft and the connecting part is disposed in contact with the protective sleeve so that the protective sleeve moves synchronously with the spiral gripping part.

11. The suture device according to any one of claims 1-4, further comprising: A suture assembly, including a suture needle, is configured to suture tissue in the state to be sutured by means of the suture needle.

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