A rotatable wrist suture device and method of use

Abstract

The application discloses a wrist-rotatable suture device and a use method thereof, wherein the wrist-rotatable suture device comprises a clamping mechanism, a transmission mechanism and a control mechanism, the clamping mechanism comprises a fine nozzle clamp and a control shaft, one end of the control shaft is connected to the fine nozzle clamp; the transmission mechanism comprises an outer tube and a transmission tube arranged in the outer tube, one end of the outer tube is movably connected with a wrist rotating seat, the fine nozzle clamp is rotatably connected with the wrist rotating seat, the transmission tube is in transmission connection with the wrist rotating seat, and the self-rotation axis of the fine nozzle clamp is perpendicular to the bending axis of the wrist rotating seat relative to the outer tube; the control mechanism is arranged at the end of the outer tube far away from the wrist rotating seat, the control mechanism is in transmission connection with the outer tube, the transmission tube and the control shaft, and the control mechanism can drive the outer tube to rotate around its own axis; and a medium channel is formed between the transmission tube and the control shaft. The wrist-rotatable suture device and the use method thereof can realize the clamping and releasing of the suture through the fine nozzle clamp, and can also realize the opening and closing, self-rotation, deflection and rotation around the axis of the outer tube of the fine nozzle clamp.

Description

Technical Field

[0001] This invention relates to the field of surgical instrument technology, and in particular to a wrist-rotating suture device and its method of use. Background Technology

[0002] Arthroscopic surgery, as the gold standard for treating joint sports injuries, is widely used in clinical practice due to its advantages such as being minimally invasive and allowing for rapid postoperative recovery. However, its operation is always limited by the extremely narrow closed space of the joint cavity, especially the hip joint, where the joint space is typically only 8 to 10 mm. Performing high-quality repair procedures such as labral sutures, labral eversion sutures, and figure-of-eight sutures of the joint capsule within this space requires balancing operational precision, tissue alignment, and suture strength, posing a significant technical challenge in clinical practice.

[0003] Current arthroscopic suturing instruments are ill-suited for complex suturing needs in confined spaces. First, the instruments are often single-function, leading to a high risk of iatrogenic injury during surgery. Currently, most commonly used suturing instruments in clinical practice are designed for a single function, such as simple suturing devices, simple clamping instruments, and independent suture graspers. Completing a single joint suture requires repeated changes to different functional instruments, which not only significantly prolongs the operation time and increases the number of surgical incisions, but also greatly exacerbates the risk of iatrogenic soft tissue injuries such as cartilage and labrum due to the frequent entry and exit of instruments into the joint cavity.

[0004] Secondly, the fixed operating angle of the instruments makes it difficult to guarantee the quality of suturing. The forceps tip of traditional suturing instruments lacks flexible steering function. Due to the dual limitations of the arthroscopic approach position and the limited operating space in the joint cavity, it is impossible to adjust to the optimal angle to approach and puncture the tissue to be sutured. This defect easily leads to suture position deviation and uneven tissue puncture depth, resulting in insufficient suture strength, uneven tension, and even making it impossible to perform suturing operations at certain special angles.

[0005] Third, the suturing procedure is cumbersome and difficult. Current arthroscopic suturing involves first using a puncture needle to carry the suture to puncture the tissue to be sutured, and then replacing it with a suture catcher to grab the suture tail from the opposite side of the tissue. However, the limited field of vision and confined space under arthroscopy, coupled with the fact that the entire procedure is performed in a fluid-perfused environment, mean that the excessive number of surgical tools and procedures not only increases the difficulty of arthroscopic suturing but also seriously affects surgical efficiency and suturing continuity.

[0006] In addition, although a small number of integrated arthroscopic instruments have emerged in the existing technology, some instruments lack a flexible wrist steering structure, which still cannot solve the problem of limited operating angle; other instruments fail to achieve a complete closed loop of operation, including suture insertion, controllable suture release, and secondary suture grasping, which cannot fundamentally simplify the suturing process and avoid the drawbacks of frequent instrument changes. Summary of the Invention

[0007] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a rotatable wrist suture device that can grasp and release sutures using fine-nosed forceps, and can also open, close, rotate, oscillate, and rotate around the outer tube axis of the fine-nosed forceps, which helps to solve the problems of limited operating angle, cumbersome operation process, and high difficulty.

[0008] The present invention also proposes a method for using the aforementioned rotatable wrist suture device.

[0009] In a first aspect, according to an embodiment of the present invention, a rotatable wrist suture device includes: The clamping mechanism includes fine-nose pliers and a control shaft. One end of the control shaft is connected to the fine-nose pliers, and the control shaft is used to control the opening and closing of the fine-nose pliers. The transmission mechanism includes an outer tube and a transmission tube passing through the outer tube. One end of the outer tube is movably connected to a rotating arm seat. The fine-nose pliers are rotatably connected to the rotating arm seat, and the transmission tube is transmissionally connected to the rotating arm seat. The rotation axis of the fine-nose pliers is perpendicular to the bending axis of the rotating arm seat relative to the outer tube. The rotating arm seat and the transmission tube accommodate the control shaft. The control mechanism is located at the end of the outer tube away from the wrist rest. The control mechanism is connected to the outer tube, the transmission tube and the control shaft respectively. The control mechanism can drive the outer tube to rotate around its own axis. The transmission tube and the control shaft form a medium channel, which is used to provide irrigation fluid and to aspirate fluids during surgery.

[0010] According to an embodiment of the present invention, a rotatable wrist suture device includes a control mechanism comprising a first control component, a second control component, a third control component, and a fourth control component; The first control component is connected to the outer tube drive, and the first control component is used to drive the outer tube to rotate around its own axis. The second control component is connected to the control shaft drive and is used to control the rotation of the fine-nose pliers relative to the wrist rest. The third control component is connected to the transmission tube and is used to control the rotation of the wrist rest relative to the outer tube. The fourth control component is connected to the control shaft drive and is used to control the opening and closing of the fine-nose pliers via the control shaft.

[0011] According to an embodiment of the present invention, a rotatable wrist suture device is provided with a second transmission pin on the periphery of the control shaft, and a second control component is slidably connected to the second transmission pin along the axial direction of the control shaft. The second control component can drive the control shaft to rotate through the second transmission pin.

[0012] According to an embodiment of the present invention, a rotatable wrist suture device includes a third control component comprising a third rotating wheel and a third transmission wheel. A third transmission pin is fixedly disposed on the outer periphery of the transmission tube. The third rotating wheel and the third transmission wheel are coaxial and fixedly connected. The third transmission wheel and the third transmission pin are connected by transmission. The third transmission wheel can drive the third transmission pin to move axially along the transmission tube.

[0013] According to an embodiment of the present invention, a rotatable wrist suture device includes a first control component comprising a first rotating wheel and a first transmission wheel. A first transmission pin is fixedly disposed on the outer periphery of the outer tube. The first rotating wheel and the first transmission wheel are coaxial and fixedly connected. The first transmission wheel and the first transmission pin are connected by transmission. The first transmission wheel can drive the first transmission pin to move along the circumference of the outer tube.

[0014] According to an embodiment of the present invention, a rotatable wrist suture device includes a fourth control component comprising a fork, a transmission link, and a trigger. A fourth transmission pin is provided on the periphery of the control shaft. The trigger, transmission link, fork, and fourth transmission pin are sequentially connected in a transmission manner. The fourth control component can drive the control shaft to move along its axial direction via the fourth transmission pin.

[0015] According to an embodiment of the present invention, a rotatable wrist suture device includes a fine-nose clamp comprising a fixed jaw and a movable jaw, wherein the movable jaw and the fixed jaw are movably connected and matched, the fixed jaw is rotatably connected to a wrist rotatable seat, and one end of the movable jaw is connected to a control shaft.

[0016] According to an embodiment of the present invention, a rotatable wrist suture device is provided in which a clamping hole can be formed between the movable jaw and the fixed jaw.

[0017] According to an embodiment of the present invention, a rotatable wrist suture device is provided with a pointed head at the end of the fixed jaw away from the rotatable wrist seat, and the pointed head extends along the axial direction of the fixed jaw; or, the pointed head is bent and extends relative to the axial direction of the fixed jaw.

[0018] Secondly, according to an embodiment of the present invention, a method of using a rotatable wrist suture device applies the above-mentioned rotatable wrist suture device. The usage of the rotatable wrist suture device includes: In the moving step, the control mechanism controls the fine-nose pliers through the transmission mechanism to move the fine-nose pliers to the vicinity of the sewing thread; In the thread-grabbing step, the control mechanism controls the fine-nosed pliers to close via the control shaft to clamp the thread; In the thread-pulling step, the control mechanism controls the fine-nose pliers through the transmission mechanism to drive the fine-nose pliers and the thread to move to the target position. During the thread release step, the control mechanism uses a control shaft to loosen the fine-nosed pliers to release the suture.

[0019] A wrist-rotating suture device according to an embodiment of the present invention has at least the following beneficial effects: Compared to existing technologies, this invention features a fine-nose pliers. The fine-nose pliers are smaller in size, have a smaller opening and closing range, and have a small, protruding tip, which makes it easier to tie knots in sutures during joint surgery. This reduces the secondary damage caused when passing through joint gaps, and the fine-nose pliers can achieve a good suture gripping and holding effect.

[0020] This invention features an outer tube, a transmission tube, and a rotating wrist seat. The rotating wrist seat is movably connected to the outer tube and drively connected to the transmission tube. The transmission tube drives the rotating wrist seat to bend relative to the outer tube, thereby causing the fine-nosed forceps to deflect relative to the outer tube. When the tissue to be sutured is located on one side of the fine-nosed forceps along the radial direction of the outer tube, the fine-nosed forceps can be deflected relative to the outer tube through the cooperation of the outer tube, transmission tube, and rotating wrist seat, without requiring the outer tube to move radially. This reduces damage to the joint space caused by the rotating wrist suture device and allows for suturing operations on the sutured portion of the joint tissue located posterior to the direction of insertion of the outer tube. It facilitates angle adjustment to approach and puncture the tissue to be sutured, and allows for suture knotting by pulling the suture, reducing suture position deviation and uneven tissue puncture depth, improving the suture strength of the tissue to be sutured, and enabling suturing operations at special angles, thus reducing the number of incisions in other directions during joint surgery.

[0021] This invention sets up a fine-nose pliers and a rotating wrist base, and makes the fine-nose pliers and the rotating wrist base rotatably connected. The control shaft is connected to the fine-nose pliers, and the control shaft can control the rotating wrist base to rotate, thereby driving the fine-nose pliers to rotate. This allows for quick adjustment of the angle of the fine-nose pliers relative to the thread within the limited gap channel of the articulated hand, so that the fine-nose pliers and the thread form a perpendicular angle, so that the fine-nose pliers can quickly and reliably clamp the thread.

[0022] This invention, by setting up a control mechanism, can drive the outer tube to rotate around its own axis and adjust the orientation of the transmission mechanism, so that the fine-nosed forceps bends toward the target position. This eliminates the need for the surgeon to change the orientation of the handle, thus meeting the surgical requirements, reducing the surgeon's large movements, lowering the difficulty of the surgical operation, and improving the accuracy of the operation.

[0023] By setting up a control mechanism, the present invention can also drive the transmission tube to move along its own axis to drive the wrist rest to bend relative to the outer tube; it can also drive the control shaft to rotate to drive the fine-nose pliers to rotate together; and it can also drive the fine-nose pliers to move along its own axis to control the opening and closing of the fine-nose pliers.

[0024] This invention forms a medium channel through a transmission tube and a control shaft. One end of the medium channel is located at the end of the transmission tube near the wrist pivot, which facilitates continuous irrigation of the cleaning fluid during joint suturing surgery and removes the fluid discharged from the joint tissue and the cleaning fluid after use, maintaining joint cavity expansion and clear surgical field, and removing blood accumulation and tissue debris.

[0025] This invention, by incorporating a flexible cable, maintains the transmission connection between the fine-nose pliers and the rigid shaft even when the wrist rest and the fine-nose pliers bend relative to the outer tube.

[0026] This invention, by simultaneously incorporating a fine-nozzle clamp and a transmission mechanism, facilitates the control of the clamp's rotation via the transmission mechanism. It also facilitates the control of the clamp's bending relative to the outer tube via the transmission mechanism. This helps the clamp grip the suture at the optimal suturing angle as it passes through the tissue to be sutured, and controls the clamp to pull the suture to tie a knot within narrow joint tissue, thereby improving the suturing efficiency and quality for the tissue to be sutured.

[0027] This invention, by simultaneously incorporating a steel wire cable and fine-nosed clamps, enables rapid and accurate control of the opening and closing of the fine-nosed clamps even when they are bent or rotated relative to the outer tube, or in different open / closed states. The steel wire cable drives the fine-nosed clamps to close, providing the necessary clamping force for tightening the suture. Furthermore, the steel wire cable's flexibility, ability to transmit axial push and pull forces, and good circumferential constraint transmission properties allow for rapid opening and closing even when the clamps are bent relative to the outer tube within the joint cavity environment. This eliminates the need to first adjust the clamps to be parallel to the outer tube before controlling their opening and closing, reducing the likelihood of the clamps deviating from their operating position and improving the efficiency and quality of suturing in joint tissue suturing surgery.

[0028] This invention controls the clamping mechanism through a manipulation mechanism and a transmission mechanism, enabling multiple operations such as suture grasping, suture puncture, suture ejection, and knot tying during joint surgery. It also facilitates the infusion and drainage of cleaning fluid, eliminating the need to repeatedly change different functional instruments. This helps avoid the frequent entry and exit of multiple instruments into the joint cavity and reduces the risk of iatrogenic soft tissue damage such as cartilage and labrum.

[0029] The method of using a rotatable wrist suture device according to an embodiment of the present invention has the above-mentioned beneficial effects.

[0030] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a rotatable wrist suture device according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of a wrist-rotating suture device according to an embodiment of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the third transmission wheel and transmission tube of a rotatable wrist suture device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the internal structure of the clamping mechanism and the local transmission mechanism of a rotatable wrist suture device according to an embodiment of the present invention; Figure 6 This is another structural schematic diagram of the clamping mechanism, local transmission mechanism, and suture of a rotatable wrist suture according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the clamping mechanism according to another embodiment of the present invention; Figure 8 This is a flowchart illustrating the usage of a wrist-rotating suture device.

[0032] Explanation of reference numerals in the attached figures: Clamping mechanism 100; fine-nose pliers 110; fixed jaw 111; limiting rib 112; movable jaw 113; clamping hole 114; pointed head 115; rotating shaft 116; control shaft 120; rigid shaft 121; flexible cable 122; second transmission pin 123; fourth transmission pin 124; Transmission mechanism 200; outer tube 210; first transmission pin 211; transmission pipe 220; liquid connection section 221; connecting port 222; first sealing ring 223; second sealing ring 224; third transmission pin 225; rotating wrist seat 230; pressure block 240; transmission block 250; First control component 300; first rotating wheel 310; first transmission wheel 320; damping wheel 330; Second control component 400; second rotating wheel 410; second transmission wheel 420; damping spring 430; Third control component 500; Third rotary wheel 510; Third transmission wheel 520; Fourth control component 600; shift fork 610; transmission link 620; trigger 630; return spring 640; Handle 700; Liquid transfer tube 710; Liquid inlet 720; Negative pressure inlet 730; Threaded connector 740; Medium channel 800; 900 stitches. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0034] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0035] In the description of the invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. If the terms "first" and "second" are used, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0036] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0037] Existing arthroscopic suturing instruments are mostly single-function designs, such as simple suturing devices, simple clamping instruments, or independent suture graspers. Current arthroscopic suturing procedures first require a puncture needle carrying 900mm suture to penetrate the tissue to be sutured, then a suture grasper is used to retrieve the 900mm suture tail from the opposite side of the tissue. However, the limited field of vision and confined space under arthroscopy necessitate repeated changes of different functional instruments to complete a single joint suturing procedure. This significantly prolongs the operation time and increases the number of incisions. Furthermore, the frequent entry and exit of sharp suture instruments into the joint cavity greatly increases the risk of iatrogenic soft tissue injuries, such as cartilage damage.

[0038] Furthermore, existing instruments have fixed operating angles, making it difficult to guarantee suturing results. They lack flexible steering capabilities and are limited by both the arthroscopic approach location and the limited operating space within the joint cavity, making it impossible to adjust to the optimal angle to approach and puncture the tissue to be sutured. This deficiency easily leads to suture position deviation and uneven tissue puncture depth, resulting in insufficient suture strength, and even making it impossible to perform suturing operations at certain special angles.

[0039] Reference Figures 1 to 7 This invention provides a rotatable wrist suture device, including a clamping mechanism 100, a transmission mechanism 200, and a control mechanism. The clamping mechanism 100 and the control mechanism are respectively disposed at both ends of the transmission mechanism 200, and the control mechanism controls the clamping mechanism 100 through the transmission mechanism 200.

[0040] The clamping mechanism 100 includes a fine-nose clamp 110 and a control shaft 120. The end of the control shaft 120 away from the control mechanism is connected to the fine-nose clamp 110. The control shaft 120 is used to control the opening and closing of the fine-nose clamp 110. Specifically, the fine-nose clamp 110 is small in size, has a small opening and closing range, and the front end of the fine-nose clamp 110 is pointed and protruding, which makes it easy to pass through the joint gap and is specially used for joint surgery.

[0041] Specifically, the control shaft 120 includes a rigid shaft 121 and a flexible cable 122. The rigid shaft 121 is made of hard metal, and the flexible cable 122 is made of steel wire. The steel wire can transmit axial push and pull forces well and also has a good circumferential constraint transmission effect. One end of the flexible cable 122 is connected to the fine-nose pliers 110, and the end of the flexible cable 122 away from the fine-nose pliers 110 is connected to the rigid shaft 121.

[0042] The transmission mechanism 200 includes an outer tube 210 and a transmission tube 220 passing through the outer tube 210. One end of the outer tube 210 is movably connected to a rotating wrist seat 230. The fine-nose pliers 110 is rotatably connected to the rotating wrist seat 230, and the transmission tube 220 is drive-connected to the rotating wrist seat 230. The rotation axis of the fine-nose pliers 110 is perpendicular to the bending axis of the rotating wrist seat 230 relative to the outer tube 210. The rotating wrist seat 230 and the transmission tube 220 accommodate the control shaft 120. Specifically, the control shaft 120 passes through the transmission tube 220 and the rotating wrist seat 230 in sequence and is drive-connected to the fine-nose pliers 110. Specifically, the control shaft 120 can rotate around its own axis. When the control shaft 120 rotates, it can drive the fine-nose pliers 110 to rotate as well.

[0043] In some embodiments, the end of the wrist rest 230 away from the fine-nose pliers 110 is hinged to one end of the outer tube 210. The transmission tube 220 can move relative to the outer tube 210 along its own axial direction, causing the wrist rest 230 to swing relative to the outer tube 210. Specifically, the wrist rest 230 swings relative to the outer tube 210 with its hinge point as the axis, causing the fine-nose pliers 110 to swing relative to the outer tube 210. Specifically, the rotation axis of the fine-nose pliers 110 is parallel to the axis of the wrist rest 230, the bending axis of the wrist rest 230 relative to the outer tube 210 is the hinge axis between one end of the wrist rest 230 and the outer tube 210, and the hinge axis between the wrist rest 230 and the outer tube 210 is perpendicular to the axis of the wrist rest 230.

[0044] In this embodiment, the wrist rest 230 is exemplified by swinging relative to the outer tube 210, but it is not limited to the above embodiment.

[0045] The control mechanism is located at the end of the outer tube 210 away from the wrist rest 230. The control mechanism is connected to the outer tube 210, the transmission tube 220 and the control shaft 120 respectively. The control mechanism can drive the outer tube 210 to rotate around its own axis. Specifically, the control mechanism can also drive the transmission tube 220 to move along its own axis, so as to drive the wrist rest 230 to bend relative to the outer tube 210. Specifically, the control mechanism can also drive the rigid shaft 121 to rotate, thereby driving the soft cable 122 and the fine-nose pliers 110 to rotate together. Specifically, the control mechanism can also drive the soft cable 122 to move along its own axis through the rigid shaft 121, so as to control the opening and closing of the fine-nose pliers 110.

[0046] Specifically, the control mechanism includes a handle 700, with the same end of the outer tube 210 and the transmission tube 220 respectively connected to the handle 700. The handle 700 is used by the surgical operator to hold and operate the wrist-rotatable suture device.

[0047] A media channel 800 is formed between the transmission tube 220 and the control shaft 120. The media channel 800 is used to provide irrigation fluid and to aspirate fluids during surgery. Specifically, one end of the media channel 800 is located at the end of the transmission tube 220 near the wrist pivot 230, as shown in the figure. Figure 5 The transmission tube 220 near the wrist rest 230 forms a gap with the outer tube 210 and the control shaft 120 to allow for media discharge or intake; the other end of the media channel 800 is located at the end of the transmission tube 220 away from the wrist rest 230.

[0048] This invention is used in conjunction with an arthroscope and a suture needle. The arthroscope provides a surgical view, while the suture needle provides the needle and suture 900. When the needle punctures the tissue to be sutured, the suture 900 can be held near its end by a fine-nose clamp 110, which helps prevent the suture 900 from detaching from the needle and allows one end of the suture 900 to pass smoothly through the puncture hole created by the needle. After the suture 900 passes through the puncture hole, the fine-nose clamp 110 releases the suture, and then the fine-nose clamp 110 is used to tie a knot in the suture 900.

[0049] The present invention incorporates a fine-nose pliers 110, which is small in size, has a small opening and closing range, and a small and protruding tip, making it easy to tie knots on the sutures 900 during joint surgery. This reduces the secondary damage caused when passing through the joint gap, and the fine-nose pliers 110 can achieve a good suture gripping and holding effect.

[0050] The present invention provides an outer tube 210, a transmission tube 220 and a rotating wrist seat 230. The rotating wrist seat 230 is movably connected to the outer tube 210 and is connected to the transmission tube 220. The transmission tube 220 can drive the rotating wrist seat 230 to bend relative to the outer tube 210, thereby causing the fine-nose pliers 110 to deflect relative to the outer tube 210. When the tissue to be sutured is located on one side of the fine-nozzle clamp 110 along the radial direction of the outer tube 210, the fine-nozzle clamp 110 can be deflected relative to the outer tube 210 through the cooperation of the outer tube 210, the transmission tube 220 and the wrist rotating seat 230. There is no need to move the outer tube 210 radially. On the one hand, this can reduce the damage to the joint space caused by the wrist rotating suture device. On the other hand, it can perform suturing operations on the joint tissue located on the posterior side of the extension direction of the outer tube 210. It is convenient to adjust the angle to approach and puncture the tissue to be sutured, and it is convenient to pull the suture 900 to tie the knot. It reduces the situation of suture position deviation and uneven tissue puncture depth, improves the suture strength of the tissue to be sutured, and can realize suturing operations at special angles, reducing the number of incisions in other directions in joint surgery.

[0051] This invention sets up a fine-nose pliers 110 and a rotating wrist base 230, and makes the fine-nose pliers 110 and the rotating wrist base 230 rotatably connected. The control shaft 120 is connected to the fine-nose pliers 110. The control shaft 120 can control the rotating wrist base 230 to rotate, thereby driving the fine-nose pliers 110 to rotate. This allows for quick adjustment of the angle of the fine-nose pliers 110 relative to the suture 900 within the limited gap channel of the articulated hand, so that the fine-nose pliers 110 and the suture 900 form a perpendicular angle, so that the fine-nose pliers 110 can quickly and reliably clamp the suture 900.

[0052] This invention, by setting up a control mechanism, can drive the outer tube 210 to rotate around its own axis and adjust the orientation of the transmission mechanism 200, so that the fine-nosed forceps 110 bends towards the target position. This eliminates the need for the surgeon to change the orientation of the handle 700, thus meeting the surgical requirements, reducing the surgeon's large movements, lowering the difficulty of the surgical operation, and improving the accuracy of the operation.

[0053] By setting up a control mechanism, the present invention can also drive the transmission tube 220 to move along its own axis, so as to drive the wrist rest 230 to bend relative to the outer tube 210; it can also drive the control shaft 120 to rotate, so as to drive the fine-nose pliers 110 to rotate together; it can also drive the fine-nose pliers 110 to move along its own axis, so as to control the opening and closing of the fine-nose pliers 110.

[0054] The present invention forms a medium channel 800 through the transmission tube 220 and the control shaft 120. One end of the medium channel 800 is located at the end of the transmission tube 220 near the wrist pivot 230, which facilitates continuous irrigation of cleaning fluid during joint suturing surgery and aspiration of fluid discharged from joint tissue and used cleaning fluid, maintaining joint cavity expansion and clear surgical field, and removing blood accumulation and tissue debris. Moreover, the medium channel 800 is located between the transmission tube 220 and the control shaft 120, which also helps to provide lubrication for the relative movement between the transmission tube 220 and the control shaft 120, reducing mutual interference.

[0055] By setting up a flexible cable 122, the present invention can maintain the transmission connection between the fine-nose pliers 110 and the rigid shaft 121 when the wrist rest 230 and the fine-nose pliers 110 are bent relative to the outer tube 210.

[0056] This invention, by simultaneously incorporating a fine-nosed clamp 110 and a transmission mechanism 200, facilitates the control of the clamp 110's rotation via the transmission mechanism 200. It also facilitates the control of the clamp 110's bending relative to the outer tube 210 via the transmission mechanism 200. This helps the clamp 110, after grasping the suture 900, precisely achieve the optimal angle for puncture within narrow joint tissue. Furthermore, it facilitates the control of the clamp 110 in pulling the suture 900 to perform knotting within narrow joint tissue. Moreover, it allows for precise control of the small, protruding tip of the clamp 110, enabling precise knotting of the suture 900, further improving the suturing efficiency and quality for the tissue to be sutured.

[0057] This invention, by simultaneously incorporating a steel wire cable and a fine-nosed clamp 110, allows for rapid and accurate control of the opening and closing of the fine-nosed clamp 110 even when it is bent or rotated relative to the outer tube 210, or when it is in different open or closed states. In this invention, the steel wire cable drives the fine-nosed clamp 110 to close, providing the clamping force required to clamp the suture 900. Furthermore, utilizing the flexibility, axial push-pull force transmission, and good circumferential constraint transmission properties of the steel wire cable, even when the fine-nosed clamp 110 is bent relative to the outer tube 210 within the joint cavity environment, it can be quickly driven to open and close without first adjusting the fine-nosed clamp 110 to be parallel to the outer tube 210 before controlling its opening and closing. This reduces the likelihood of the fine-nosed clamp 110 deviating from its operating position, further improving the efficiency and quality of joint surgery.

[0058] This invention controls the clamping mechanism 100 through the control mechanism and transmission mechanism 200, which can realize multiple operations such as suture grasping, suture puncture, suture ejection, and knot tying in joint surgery. It also facilitates the infusion and drainage of cleaning fluid, eliminating the need to repeatedly change different functional instruments. This helps to avoid the frequent entry and exit of multiple instruments into the joint cavity and helps to reduce the risk of iatrogenic soft tissue damage such as cartilage and labrum.

[0059] In some specific embodiments, reference is made to Figure 5 and Figure 6 The bending axis of the rotating base 230 relative to the outer tube 210 intersects both the axis of the outer tube 210 and the axis of the rotating base 230. The transmission connection between the rotating base 230 and the transmission tube 220 is located near the outer wall of the rotating base 230. Specifically, a transmission block 250 is hinged to one end of the transmission tube 220 near the rotating base 230, and the other end of the transmission block 250 is hinged to the rotating base 230. When the transmission tube 220 moves along its axial direction, the transmission block 250 can drive the rotating base 230 to move away from its axial direction relative to the outer wall, thereby causing the rotating base 230 to bend relative to the outer tube 210 with a bending axis intersecting its own axis.

[0060] In some specific embodiments, reference is made to Figure 5 and Figure 7 The fine-nose pliers 110 has a rotating shaft 116 at one end near the rotating wrist base 230. The rotating shaft 116 has an annular outer protrusion along the circumference of the fine-nose pliers 110. The rotating wrist base 230 has a semi-circular annular inner groove at one end near the fine-nose pliers 110, corresponding to the annular outer protrusion. The annular outer protrusion of the rotating shaft 116 can be matched and movably disposed in the semi-circular annular inner groove of the rotating wrist base 230. The transmission mechanism 200 also includes a pressure block 240, which has a semi-circular structure. The inner side of the pressure block 240 also has a semi-circular annular inner groove. The pressure block 240 can be matched and movably connected to the annular outer protrusion of the rotating shaft 116. The pressure block 240 and the rotating wrist base 230 are connected by screws. The annular outer protrusion of the rotating shaft 116, the semi-circular annular inner groove of the pressure block 240, and the semi-circular annular inner groove of the wrist rest 230 cooperate to achieve a rotational connection between the fine-nose pliers 110 and the wrist rest 230. The wrist rest 230 can restrict the axial movement of the fine-nose pliers 110, while allowing the fine-nose pliers 110 to rotate around its own axis.

[0061] In some specific embodiments, reference is made to Figure 2 and Figure 3The handle 700 contains a liquid transfer pipe 710, which has an inlet port 720 and a negative pressure port 730. The inlet port 720 is used to connect to an external cleaning fluid supply device, and the negative pressure port 730 is used to connect to an external negative pressure generating device. The end of the transmission pipe 220 away from the fine-nose pliers 110 has a liquid connection section 221. The medium channel 800 extends into the liquid connection section 221, which passes through the liquid transfer pipe 710. The liquid connection section 221 is equipped with an abutment... A first sealing ring 223 and a second sealing ring 224 are disposed on the inner surface of the liquid transfer pipe 710. The first sealing ring 223 and the second sealing ring 224 are respectively disposed at the left and right ends of the liquid connection section 221. The liquid connection section 221 is provided with a connecting port 222, which is located between the first sealing ring 223 and the second sealing ring 224. The connecting port 222 is used to connect the medium channel 800 with the liquid transfer pipe 710, thereby enabling the medium channel 800 to connect with the liquid inlet port 720 and / or the negative pressure port 730. By setting the first sealing ring 223 and the second sealing ring 224, a movable and sealed connection is achieved between the liquid connection section 221 and the liquid transfer pipe 710. It also ensures that both ends of the liquid connection section 221 are in even contact with the liquid transfer pipe 710, preventing the liquid connection section 221 from shaking or expanding and contracting, which would affect the sealing effect.

[0062] Furthermore, the control shaft 120 extends to the right end of the liquid transfer tube 710 and is connected to the liquid transfer tube 710 in a movable and sealed manner.

[0063] According to some embodiments of this application, refer to Figures 1 to 3 The control mechanism includes a first control component 300, a second control component 400, a third control component 500, and a fourth control component 600. The first control component 300 is driven to the outer tube 210 and is used to drive the outer tube 210 to rotate around its own axis. The second control component 400 is driven to the control shaft 120 and is used to control the rotation of the fine-nose pliers 110 relative to the wrist rest 230. The third control component 500 is driven to the transmission tube 220 and is used to control the bending of the wrist rest 230 relative to the outer tube 210. The fourth control component 600 is driven to the control shaft 120 and is used to control the opening and closing of the fine-nose pliers 110 through the control shaft 120. The first control component 300, the second control component 400, the third control component 500 and the fourth control component 600 can respectively control the rotation of the outer tube 210, control the rotation of the fine-nose pliers 110, control the bending of the fine-nose pliers 110 relative to the outer tube 210 and control the opening and closing of the fine-nose pliers 110.

[0064] Furthermore, referring to Figure 2 and Figure 3A second transmission pin 123 is provided around the control shaft 120. The second control component 400 is slidably connected to the second transmission pin 123 along the axial direction of the control shaft 120. The second control component 400 can drive the control shaft 120 to rotate via the second transmission pin 123. Specifically, the second control component 400 includes a second rotating wheel 410 and a second transmission wheel 420. The second rotating wheel 410 and the second transmission wheel 420 are coaxial and fixedly connected. The second rotating wheel 410 is rotatably connected to the handle 700. The second transmission wheel 420 is sleeved on the outer side of the control shaft 120. A groove is provided on the inner side of the second transmission wheel 420 near the control shaft 120 along the axial direction of the control shaft 120. The second transmission pin 123 is slidably disposed in the groove of the second transmission wheel 420. When the second rotating wheel 410 and the second transmission wheel 420 rotate around the axis of the control shaft 120, the groove of the second transmission wheel 420 can drive the second transmission pin 123 to rotate around the axis of the control shaft 120, thereby driving the control shaft 120 to rotate; when the control shaft 120 moves along its own axis, the second transmission pin 123 can slide in the groove of the second transmission wheel 420, and the second transmission pin 123 and the groove of the second transmission wheel 420 do not interfere with each other.

[0065] In some embodiments, reference is made to Figure 2 and Figure 3 The second control component 400 also includes a damping spring 430, which is disposed between the second rotating wheel 410 and the handle 700. The two axial sides of the damping spring 430 abut against the second rotating wheel 410 and the handle 700 respectively, providing a certain force to limit the rotation between the second rotating wheel 410 and the handle 700. External force is required to drive the second rotating wheel 410 to rotate, so as to improve the positional stability of the control shaft 120 along its circumference, thereby improving the positional stability of the fine-nose pliers 110 along its circumference.

[0066] Furthermore, referring to Figure 4 The third control component 500 includes a third rotating wheel 510 and a third transmission wheel 520. A third transmission pin 225 is fixedly disposed on the outer periphery of the transmission tube 220. The third rotating wheel 510 and the third transmission wheel 520 are coaxial and fixedly connected. The third transmission wheel 520 and the third transmission pin 225 are connected by transmission, and the third transmission wheel 520 can drive the third transmission pin 225 to move along the axial direction of the transmission tube 220. Specifically, the third rotating wheel 510 is rotatably connected to the handle 700. The third transmission wheel 520 is provided with a cam-type transmission track groove corresponding to the third transmission pin 225, and the third transmission pin 225 is located in the cam-type transmission track groove of the third transmission wheel 520. When the third rotating wheel 510 is rotated, the third rotating wheel 510 drives the third transmission wheel 520 to rotate together, and the cam-type transmission track groove of the third transmission wheel 520 drives the third transmission pin 225 to move along the axis of the transmission tube 220. Figure 1This enables the transmission tube 220 to move left and right along its axis, thereby driving the wrist rest 230 to oscillate via the transmission tube 220 and the transmission block 250.

[0067] Furthermore, referring to Figure 2 and Figure 3 The first control component 300 includes a first rotating wheel 310 and a first transmission wheel 320. A first transmission pin 211 is fixedly provided on the outer periphery of the outer tube 210. The first rotating wheel 310 and the first transmission wheel 320 are coaxial and fixedly connected. The first transmission wheel 320 and the first transmission pin 211 are connected by transmission. The first transmission wheel 320 can drive the first transmission pin 211 to move along the circumference of the outer tube 210. Specifically, the handle 700 is provided with a threaded connection seat 740. The threaded connection seat 740 has threads on its periphery near the end of the handle 700, and an annular protrusion on its periphery away from the handle 700. The first rotating wheel 310 is movably sleeved on the annular protrusion of the threaded connection seat 740, achieving a rotational connection between the first rotating wheel 310 and the threaded connection seat 740. The first transmission wheel 320 is sleeved on the outer wall of the outer tube 210. The first transmission wheel 320 has a groove along the axial direction of the outer tube 210 on its inner side near the outer tube 210, and the first transmission pin 211 is disposed in the groove of the first transmission wheel 320. When the first rotating wheel 310 and the first transmission wheel 320 rotate around the axis of the outer tube 210, the groove of the first transmission wheel 320 can drive the first transmission pin 211 to rotate around the axis of the outer tube 210, that is, drive the first transmission pin 211 to move circumferentially along the outer tube 210, thereby driving the outer tube 210 to rotate. It is understandable that when the outer tube 210 rotates, it can drive the transmission tube 220 to rotate along with it through the rotating wrist seat 230 and the transmission block 250 in sequence. At this time, the third transmission wheel 520 can rotate adaptively. This process will not cause the rotating wrist seat 230 to wobble relative to the outer tube 210. At the same time, the rotation of the outer tube 210 can drive the fine-nose pliers 110 to rotate around the axis of the outer tube 210, so as to change the angular position of the fine-nose pliers 110 relative to the outer tube 210.

[0068] It is understood that, in some other embodiments, reference is made to... Figure 3The first control component 300 also includes a damping wheel 330, which is threadedly connected to a threaded connection seat 740. An elastic damping material layer is provided on the side of the damping wheel 330 near the first rotating wheel 310. By driving the damping wheel 330 to rotate relative to the threaded connection seat 740, the damping wheel 330 can move closer to or away from the first rotating wheel 310. When the damping wheel 330 moves closer to the first rotating wheel 310, the elastic damping material layer on the damping wheel 330 can tightly adhere to the side wall of the first rotating wheel 310 near the handle 700. Utilizing the elasticity of the elastic damping material layer and the friction between the damping wheel 330 and the threaded connection seat 740, an elastic damping connection is achieved between the first rotating wheel 310 and the threaded connection seat 740. External force is required to drive the first rotating wheel 310 to rotate, which improves the positional stability of the first rotating wheel 310 along its circumference and improves the positional stability of the outer tube 210 along its circumference. Furthermore, the relatively stable outer tube 210 can improve the positional stability of the transmission tube 220 along its own circumference. When the third transmission pin 225 is driven to move along the axial direction of the transmission tube 220 by the third control component 500, it helps to prevent the transmission tube 220 from rotating and improves the control accuracy of the axial movement of the transmission tube 220.

[0069] Furthermore, referring to Figure 2 and Figure 3 The fourth control component 600 includes a shift fork 610, a transmission link 620, and a trigger 630. A fourth transmission pin 124 is provided around the control shaft 120. The trigger 630, transmission link 620, shift fork 610, and fourth transmission pin 124 are sequentially connected for transmission. The fourth control component 600 can drive the control shaft 120 to move axially along its axis via the fourth transmission pin 124. Specifically, the fourth transmission pin 124 is engaged within the shift fork 610. (Refer to...) Figures 1 to 3 The trigger 630 can drive the shift fork 610 to swing in the left and right direction through the transmission link 620, thereby driving the fourth transmission pin 124 to move along the axis of the control shaft 120, so as to drive the control shaft 120 to move in the left and right direction and control the opening and closing of the fine-nose pliers 110.

[0070] It is understood that, in some other embodiments, reference is made to... Figure 3 The second control assembly 400 also includes a return spring 640, with its two ends connected between the handle 700 and the fork 610, respectively. The return spring 640 provides a restoring force to the fork 610. When the surgical operator pinches the moving trigger 630, the return spring 640 provides a resisting force; when the surgical operator releases the trigger 630, the return spring 640 automatically drives the fork 610, the transmission link 620, and the trigger 630 to return to their original positions.

[0071] According to an embodiment of the present invention, a wrist-rotating suture device is provided, with reference to... Figures 5 to 7 The fine-nose pliers 110 includes a fixed jaw 111 and a movable jaw 113. The movable jaw 113 and the fixed jaw 111 are movably connected and matched. The fixed jaw 111 is rotatably connected to a rotating wrist seat 230. The movable jaw 113 is connected to one end of a control shaft 120. Specifically, one end of the movable jaw 113 is hinged to the fixed jaw 111, and the other end of the movable jaw 113 can abut against the fixed jaw 111. A rotating shaft 116 is located at one end of the fixed jaw 111 near the rotating wrist seat 230. Specifically, the fixed jaw 111 is provided with a limiting rib 112, which is located on one side of the hinge point between the movable jaw 113 and the fixed jaw 111. The limiting rib 112 matches the structure of the outer edge of the movable jaw 113. One end of a flexible cable 122 is fixedly connected to the outer edge of the movable jaw 113, and the flexible cable 122 is movably disposed between the rotating hinge point of the movable jaw 113 and the limiting rib 112. The limiting rib 112 restricts the movement space of the flexible cable 122, which helps to prevent the flexible cable 122 from bending or coiling, and enables the flexible cable 122 to reliably transmit driving force along its axis. The limiting rib 112 is also used to guide the stroke of the flexible cable 122. When the flexible cable 122 moves to the left away from the handle 700, the limiting rib 112 can guide the flexible cable 122 to move along the outer edge of the movable jaw 113, so that the flexible cable 122 continuously provides tangential driving force on the outer side of the movable jaw 113, thereby driving the movable jaw 113 to rotate relative to the fixed jaw 111, thus opening the fine-nose pliers 110. When the flexible cable 122 moves to the right closer to the handle 700, the limiting rib 112 can guide the flexible cable 122 to move along the outer edge of the movable jaw 113, so that the flexible cable 122 continuously provides tangential driving force on the outer side of the movable jaw 113, thus closing the fine-nose pliers 110.

[0072] Furthermore, a clamping hole 114 can be formed between the movable jaw 113 and the fixed jaw 111. Specifically, when the fine-nose pliers 110 is closed, the clamping hole 114 can be formed between the movable jaw 113 and the fixed jaw 111. The inner diameter of the clamping hole 114 is matched with the outer diameter of the suture 900, and the clamping hole 114 is used to clamp the suture 900. Specifically, the inner diameter of the clamping hole 114 is slightly smaller than the outer diameter of the suture 900, so that the clamping hole 114 can reliably clamp the suture 900 without flattening it.

[0073] Furthermore, referring to Figure 5 and Figure 6 The fixed jaw 111 has a pointed head 115 at the end away from the wrist rest 230, and the pointed head 115 extends along the axial direction of the fixed jaw 111. The pointed head 115 can be used to guide the fine-nose pliers 110 through the joint gap, thereby improving operating efficiency.

[0074] It is understood that, in some other embodiments, reference is made to... Figure 7The pointed head 115 is axially bent and extended relative to the fixed jaw 111. The bent and extended pointed head 115 can extend and move along the edge arc of certain joints, avoiding hitting the bone, and is particularly suitable for special surgical scenarios such as hip labral suture surgery.

[0075] This application also provides a method of using a rotatable wrist suture device, applied to any of the rotatable wrist suture devices described above.

[0076] Reference Figure 8 , Figure 8 This is a flowchart of a method for using a rotatable wrist suture device according to an embodiment of this application; the method for using the rotatable wrist suture device may include, but is not limited to, steps S100, S200, S300 and S400.

[0077] Step S100, moving step: The control mechanism controls the fine-nose pliers 110 through the transmission mechanism 200 so that the fine-nose pliers 110 moves to the vicinity of the sewing thread 900. In some specific embodiments, the handle 700 drives the connected outer tube 210 to move, which in turn drives the transmission tube 220 and the wrist rest 230 connected to the outer tube 210 to move. During this process, the fine-nose pliers 110 can be controlled to move to the vicinity of the suture 900.

[0078] In other embodiments, the first rotating wheel 310 of the first control component 300 drives the first transmission wheel 320 to rotate around the axis of the outer tube 210, thereby causing the outer tube 210 to rotate, and the rotation of the outer tube 210 causes the fine-nose pliers 110 to rotate around the axis of the outer tube 210.

[0079] In other embodiments, the second rotating wheel 410 of the second control component 400 drives the second transmission wheel 420 to rotate around the axis of the control shaft 120, thereby causing the control shaft 120 to rotate, and the rotation of the control shaft 120 causes the fine-nose pliers 110 to rotate.

[0080] In other embodiments, the third rotating wheel 510 of the third control component 500 drives the third transmission wheel 520 to rotate, and the cam-type transmission track groove on the third transmission wheel 520 drives the third transmission pin 225 to move along the axis of the transmission tube 220, thereby driving the transmission tube 220 to move left and right along the axis of the transmission tube 220, and through the transmission tube 220 and the transmission block 250, driving the wrist rest 230 and the fine-nose pliers 110 to bend relative to the outer tube 210.

[0081] It should be noted that, in actual use, the various specific embodiments of step S300 can be used individually or in combination.

[0082] Step S200, thread gripping step: The control mechanism controls the fine-nosed pliers 110 to close via the control shaft 120 to clamp the sewing thread 900. In some specific embodiments, the trigger 630 of the fourth control component 600 drives the shift fork 610 to swing to the right via the transmission link 620, thereby driving the fourth transmission pin 124 to move to the right along the axis of the rigid shaft 121, thereby driving the rigid shaft 121 to move to the right along its own axis, thereby driving the soft cable 122 connected to the rigid shaft 121 to move towards the handle 700, so as to control the movable jaw 113 to move towards the fixed jaw 111 and finally abut against the fixed jaw 111, closing the fine-nose pliers 110 and forming a clamping hole 114, in which the sewing thread 900 is clamped.

[0083] In step S300, the thread-pulling step, the control mechanism controls the fine-nose pliers 110 through the transmission mechanism 200 to drive the fine-nose pliers 110 and the sewing thread 900 to move to the target position. In some specific embodiments, the handle 700 drives the connected outer tube 210 to move, which in turn drives the transmission tube 220 and the wrist rest 230 connected to the outer tube 210 to move. During this process, the fine-nose pliers 110 can be controlled to move, so as to drive the fine-nose pliers 110 and the sewing thread 900 it holds to move to the target position. In other embodiments, the first rotating wheel 310 of the first control component 300 drives the first transmission wheel 320 to rotate around the axis of the outer tube 210, thereby causing the outer tube 210 to rotate on its own axis. The rotation of the outer tube 210 causes the fine-nose pliers 110 to rotate around the axis of the outer tube 210, thereby driving the fine-nose pliers 110 and the suture 900 it holds to move to the target position.

[0084] In other embodiments, the second rotating wheel 410 of the second control component 400 drives the second transmission wheel 420 to rotate around the axis of the control shaft 120, thereby causing the control shaft 120 to rotate, and the rotation of the control shaft 120 causes the fine-nose pliers 110 to rotate, so as to drive the fine-nose pliers 110 together with the sewing thread 900 held therein to move to the target position.

[0085] In other embodiments, the third rotating wheel 510 of the third control component 500 drives the third transmission wheel 520 to rotate. The cam-type transmission track groove on the third transmission wheel 520 drives the third transmission pin 225 to move along the axis of the transmission tube 220, thereby driving the transmission tube 220 to move left and right along the axis of the transmission tube 220. Through the transmission tube 220 and the transmission block 250, the wrist rest 230 and the fine-nose pliers 110 are driven to bend relative to the outer tube 210, so as to drive the fine-nose pliers 110 and the sewing thread 900 held by it to move to the target position.

[0086] It should be noted that, in actual use, the various specific embodiments of step S300 can be used individually or in combination.

[0087] In step S400, the thread-ejection step, the control mechanism controls the fine-nozzle pliers 110 to loosen via the control shaft 120 to release the sewing thread 900. In some specific embodiments, the return spring 640 of the fourth control component 600 drives the shift fork 610 to swing to the left and return to its original position, thereby driving the fourth transmission pin 124 to move to the left along the axis of the rigid shaft 121, which in turn drives the rigid shaft 121 to move to the left along its own axis, and then moves away from the handle 700 via the soft cable 122 connected to the rigid shaft 121, thereby controlling the movable jaw 113 to move away from the fixed jaw 111, opening the fine-nose pliers 110 and releasing the stitch 900.

[0088] It should be noted that in actual use, the above steps can be used individually or in combination, and it is not necessary to strictly follow the above methods.

[0089] It is easy to understand that the target position refers to one of the points along the path that one end of the suture needs to travel to achieve the suturing action during joint surgery; the target position is not a fixed position.

[0090] It is understood that in some other embodiments, the method of using the rotatable wrist suture may include, but is not limited to, steps S500 and S600.

[0091] S500, Cleaning step: The cleaning fluid supply equipment provides cleaning fluid medium to the inlet port 720. The cleaning fluid medium passes through the inlet port 720, the liquid transfer pipe 710, the liquid connection section 221 and the medium channel 800 in sequence, and is discharged into the joint from the end of the transmission pipe 220 near the wrist rest 230. S600, Liquid Suction Step: The negative pressure generating device generates negative pressure, which sequentially passes through the negative pressure interface 730, the liquid transfer pipe 710, the liquid connection section 221, and the medium channel 800. It is then transmitted to the joint through the end of the transmission pipe 220 near the wrist rest 230. The liquid discharged from the joint tissue and the cleaning fluid medium after use sequentially pass through the end of the transmission pipe 220 near the wrist rest 230, the medium channel 800, the liquid connection section 221, and the liquid transfer pipe 710, and is finally discharged to the outside through the negative pressure interface 730.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0093] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A wrist-rotatable suture device, characterized in that, include: The clamping mechanism (100) includes a fine-nose pliers (110) and a control shaft (120). One end of the control shaft (120) is connected to the fine-nose pliers (110), and the control shaft (120) is used to control the opening and closing of the fine-nose pliers (110). The transmission mechanism (200) includes an outer tube (210) and a transmission tube (220) passing through the outer tube (210). One end of the outer tube (210) is movably connected to a rotating wrist seat (230). The fine-nose pliers (110) are rotatably connected to the rotating wrist seat (230). The transmission tube (220) is drive-connected to the rotating wrist seat (230). The rotation axis of the fine-nose pliers (110) is perpendicular to the bending axis of the rotating wrist seat (230) relative to the outer tube (210). The rotating wrist seat (230) and the transmission tube (220) accommodate the control shaft (120) through which it passes. The control mechanism is located at the end of the outer tube (210) away from the wrist rest (230). The control mechanism is connected to the outer tube (210), the transmission tube (220) and the control shaft (120) respectively. The control mechanism can drive the outer tube (210) to rotate around its own axis. A medium channel (800) is formed between the transmission tube (220) and the control shaft (120), the medium channel (800) being used to provide irrigation fluid and to aspirate fluid during surgery.

2. The wrist-rotating suture device according to claim 1, characterized in that, The control mechanism includes a first control component (300), a second control component (400), a third control component (500), and a fourth control component (600). The first control component (300) is connected to the outer tube (210) in a transmission manner, and the first control component (300) is used to drive the outer tube (210) to rotate around its own axis; The second control component (400) is connected to the control shaft (120) for driving, and the second control component (400) is used to control the fine-nose pliers (110) to rotate relative to the wrist rest (230); The third control component (500) is connected to the transmission tube (220) and is used to control the wrist rest (230) to bend relative to the outer tube (210); The fourth control component (600) is connected to the control shaft (120) for driving, and the fourth control component (600) is used to control the opening and closing of the fine-nose pliers (110) through the control shaft (120).

3. The wrist-rotating suture device according to claim 2, characterized in that, A second transmission pin (123) is provided on the periphery of the control shaft (120). The second control component (400) and the second transmission pin (123) are slidably connected along the axial direction of the control shaft (120). The second control component (400) can drive the control shaft (120) to rotate through the second transmission pin (123).

4. The wrist-rotating suture device according to claim 2, characterized in that, The third control component (500) includes a third rotating wheel (510) and a third transmission wheel (520). A third transmission pin (225) is fixedly provided on the outer periphery of the transmission tube (220). The third rotating wheel (510) and the third transmission wheel (520) are coaxial and fixedly connected. The third transmission wheel (520) and the third transmission pin (225) are connected by transmission. The third transmission wheel (520) can drive the third transmission pin (225) to move along the axial direction of the transmission tube (220).

5. A wrist-rotating suture device according to claim 2, characterized in that, The first control component (300) includes a first rotating wheel (310) and a first transmission wheel (320). A first transmission pin (211) is fixedly provided on the outer periphery of the outer tube (210). The first rotating wheel (310) and the first transmission wheel (320) are coaxial and fixedly connected. The first transmission wheel (320) and the first transmission pin (211) are connected by transmission. The first transmission wheel (320) can drive the first transmission pin (211) to move along the circumference of the outer tube (210).

6. A wrist-rotating suture device according to claim 2, characterized in that, The fourth control component (600) includes a shift fork (610), a transmission link (620), and a trigger (630). A fourth transmission pin (124) is provided on the periphery of the control shaft (120). The trigger (630), the transmission link (620), the shift fork (610), and the fourth transmission pin (124) are sequentially connected in a transmission manner. The fourth control component (600) can drive the control shaft (120) to move along its axial direction through the fourth transmission pin (124).

7. The wrist-rotating suture device according to claim 1, characterized in that, The fine-nose pliers (110) includes a fixed jaw (111) and a movable jaw (113). The movable jaw (113) is movably connected to the fixed jaw (111). The fixed jaw (111) is rotatably connected to the wrist rest (230). The movable jaw (113) is connected to one end of the control shaft (120).

8. A wrist-rotating suture device according to claim 7, characterized in that, The movable jaw (113) and the fixed jaw (111) can be matched to form a clamping hole (114).

9. A wrist-rotating suture device according to claim 7 or 8, characterized in that, The fixed jaw (111) is provided with a pointed head (115) at one end away from the rotating wrist seat (230), and the pointed head (115) extends along the axial direction of the fixed jaw (111); or, the pointed head (115) is bent and extends relative to the fixed jaw (111).

10. A method of using a rotatable wrist suture device, characterized in that, The rotating wrist suture device is applied to any one of claims 1 to 9; the method of using the rotating wrist suture device includes: In the moving step, the control mechanism controls the fine-nose pliers (110) through the transmission mechanism (200) so that the fine-nose pliers (110) moves to the vicinity of the suture (900); In the thread-grabbing step, the control mechanism controls the fine-nose pliers (110) to close via the control shaft (120) to clamp the suture (900). In the thread-pulling step, the control mechanism controls the fine-nose pliers (110) through the transmission mechanism (200) to drive the fine-nose pliers (110) together with the sewing thread (900) to move to the target position; In the thread-spitting step, the control mechanism controls the fine-nosed pliers (110) to loosen via the control shaft (120) to release the suture (900).

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