An endoscopic stapler for minimally invasive surgery

Abstract

The application discloses an endoscope suture device for minimally invasive surgery and belongs to the technical field of medical devices, comprising a mounting piece, a first clamping piece and a second clamping piece arranged on the mounting piece, characterized in that the first clamping piece is used for releasably clamping one end of a suture needle, the second clamping piece is used for releasably clamping the other end of the suture needle, and the first clamping piece and the second clamping piece are of the same structure; the mounting piece is provided with a first driving mechanism for driving the first clamping piece to open and close and a second driving mechanism for driving the second clamping piece to open and close, and the first driving mechanism and the second driving mechanism are of the same structure and are independent of each other. The application has the effects of avoiding instrument collision and interference, reducing the difficulty of two-hand coordination and learning curve, and improving the convenience of operation under a two-dimensional field of view.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscopic suture device for minimally invasive surgery. Background Technology

[0002] In laparoscopic or endoscopic minimally invasive surgery, suturing soft tissue usually requires two separate needle holders working together. Specifically, the surgeon uses one hand to operate the first needle holder to hold the suture needle and puncture the tissue, while the other hand operates the second needle holder to receive the needle on the opposite side of the tissue. Then, the first needle holder is released, and the second needle holder pulls out the needle and tightens the suture.

[0003] This method of operation, which relies on two independent instruments, has many inherent drawbacks in the confined space of the body cavity. The two instruments need to move in coordination within a limited space, which makes it easy for them to collide and interfere with each other. The surgeon needs to coordinate the subtle movements of both hands at the same time, resulting in a steep learning curve and prolonged operation time. In addition, the two-dimensional planar field of view under the endoscope makes it difficult for the surgeon to accurately judge the relative position of the jaws of the two instruments to the tissue, further increasing the difficulty of operation.

[0004] In response to the aforementioned related technologies, the present invention provides an endoscopic suture device that integrates two identical clamping components and two identical but independent driving mechanisms on a single mounting component. This eliminates the need for two separate instruments, avoids collision interference, reduces the difficulty of coordinating both hands, and improves the ease of operation under two-dimensional vision. Summary of the Invention

[0005] In order to overcome the problems of instrument collision, difficulty in operation coordination and inconvenience in visual judgment caused by the use of two separate needle holders in existing minimally invasive surgery, this application provides an endoscopic suture device for minimally invasive surgery.

[0006] The endoscopic stapler for minimally invasive surgery provided in this application adopts the following technical solution: An endoscopic suture device for minimally invasive surgery includes a mounting component, a first clamping component and a second clamping component disposed on the mounting component. The first clamping component is used to releasably clamp one end of a suture needle, and the second clamping component is used to releasably clamp the other end of the suture needle. The first clamping component and the second clamping component have the same structure. The mounting component is provided with a first driving mechanism for driving the opening and closing of the first clamping component and a second driving mechanism for driving the opening and closing of the second clamping component. The first driving mechanism and the second driving mechanism have the same structure and are independent of each other.

[0007] By adopting the above technical solution, during the suturing process using this suture device, the first driving mechanism drives the first clamping member to clamp one end of the suture needle and adjusts the suture needle to enter from one side of the tissue, so that the other end of the suture needle exits from the other side of the tissue; after the second driving mechanism drives the second clamping member to clamp the other end of the suture needle from the other side of the tissue, the first driving mechanism drives the first clamping member to release the suture needle, and then the second driving mechanism adjusts the second clamping member to clamp the suture needle and pass it through the tissue, so that the suture thread passes through the tissue; subsequently, the first driving mechanism drives the first clamping member to clamp one end of the suture needle again, the second driving mechanism drives the second clamping member to release the suture needle, and then adjusts the suture needle to enter the tissue again from one side of the tissue, repeating the above steps to complete the suturing of the tissue; Since the first clamp and the second clamp have the same structure, and the first drive mechanism and the second drive mechanism have the same structure and are independent of each other, the surgeon can control the opening and closing and needle insertion of the two clamps separately according to the needs of the suture path, so as to realize the alternating shuttle and continuous suturing of the suture needle on both sides of the tissue. This suture device integrates the functions of two independent instruments into a single device, avoiding collisions and interference between instruments, reducing the difficulty of hand coordination, and since the relative positions of the two clamps are fixed, the surgeon only needs to align with a single clockwise path, which improves the ease of operation under the two-dimensional field of vision of the endoscope.

[0008] Preferably, the first driving mechanism includes a first rotating tube rotatably disposed within the mounting member and a first mounting seat slidably disposed on the first rotating tube, and the first clamping member is disposed on the first mounting seat; the second driving mechanism includes a second rotating tube rotatably disposed within the mounting member and a second mounting seat slidably disposed on the second rotating tube, and the second clamping member is disposed on the second mounting seat.

[0009] By adopting the above technical solution, during the process of suturing tissue using this suturer, the first rotating tube can drive the first mounting seat and the first clamping member to rotate relative to the mounting member, and the first mounting seat can drive the first clamping member to slide relative to the first rotating tube, thereby realizing the adjustment of the first clamping member in circumferential angle and axial extension amount. Similarly, the second rotating tube can drive the second mounting base and the second clamping member to rotate relative to the mounting member, and the second mounting base can drive the second clamping member to slide relative to the second rotating tube, thereby realizing the adjustment of the angle and extension amount of the second clamping member; The surgeon can independently adjust the posture of the two clamps according to the thickness, location, and suture direction of the tissue. This allows the first clamp to puncture the tissue at the optimal angle and depth, while the second clamp accurately receives the needle from the opposite side in the corresponding posture. Both clamps have multi-degree-of-freedom adjustment capabilities, further reducing the difficulty of the operation and improving the accuracy and adaptability of suturing.

[0010] Preferably, the first clamping member includes a first lower clamping plate disposed on the first mounting base and a first upper clamping plate cooperating with the first lower clamping plate for clamping and releasing the suture needle. The first upper clamping plate is movably disposed on the first mounting base. The first driving mechanism includes a first driving component for driving the first upper clamping plate to move. The second clamping member includes a second lower clamping plate disposed on the second mounting base and a second upper clamping plate cooperating with the second lower clamping plate for clamping and releasing the suture needle. The second upper clamping plate is movably disposed on the second mounting base. The second driving mechanism includes a second driving component for driving the second upper clamping plate to move.

[0011] By adopting the above technical solution, the first driving component drives the first upper clamping plate to move relative to the first lower clamping plate, thereby realizing the clamping or release of one end of the suture needle by the first clamping member; the second driving component drives the second upper clamping plate to move relative to the second lower clamping plate, thereby realizing the clamping or release of the other end of the suture needle by the second clamping member. During tissue puncture, the first upper clamp and the first lower clamp close to firmly hold one end of the suture needle. After the needle passes through the tissue on the opposite side, the second upper clamp and the second lower clamp close to hold the other end of the suture needle. Then, the first upper clamp and the first lower clamp open to release the suture needle, completing the transfer of the needle from the first clamp to the second clamp. This facilitates control over the timing of clamping and releasing each clamp, achieving independent control of clamping and releasing. The action is reliable, the transfer is smooth, and the risk of needle dislodgement is effectively avoided.

[0012] Preferably, the first upper clamping plate, the first lower clamping plate, the second upper clamping plate, and the second lower clamping plate are all provided with elastic anti-slip structures.

[0013] By adopting the above technical solution, the first upper clamp, the first lower clamp, the second upper clamp, and the second lower clamp are all equipped with elastic anti-slip structures. When the suture needle is clamped, the elastic anti-slip structure generates elastic deformation, which increases the friction with the needle surface, thereby effectively preventing the suture needle from slipping or rotating during tissue puncture. When the clamping device opens to release the suture needle, the elastic anti-slip structure returns to its original shape, and the needle can be smoothly released without jamming or snagging. This avoids scratches or damage to the needle surface that may be caused by rigid clamping, extends the service life of the suture needle, and improves surgical safety.

[0014] Preferably, the first driving assembly includes a first arc block rotatably disposed within the first mounting base, a first intermediate gear meshing with the first arc block, a first transmission rack meshing with the first intermediate gear, and a first driving member for driving the first transmission rack to slide, wherein the first upper clamping plate is connected to the first arc block; the second driving assembly includes a second arc block rotatably disposed within the second mounting base, a second intermediate gear meshing with the second arc block, a second transmission rack meshing with the second intermediate gear, and a second driving member for driving the second transmission rack to slide, wherein the second upper clamping plate is connected to the second arc block.

[0015] By adopting the above technical solution, during the process of suturing tissue using this suturer, the first driving member drives the first transmission rack to slide, the first transmission rack drives the first arc block to rotate through the first intermediate gear, and the first arc block drives the first upper clamping plate connected to it to move relative to the first lower clamping plate, thereby realizing the clamping or release of one end of the suture needle by the first clamping member. Similarly, the second driving member drives the second transmission rack to slide, and the second transmission rack drives the second arc block to rotate through the second intermediate gear. The second arc block drives the second upper clamping plate connected to it to move relative to the second lower clamping plate, so as to realize the clamping or release of the other end of the suture needle by the second clamping member. The gear transmission structure provides smooth transmission and precise movement. The rotation angle of the arc block is linearly related to the sliding stroke of the rack, which makes it easy for the operator to accurately control the clamping force and opening and closing range. At the same time, the gear meshing has a self-locking characteristic, which can maintain the clamping force without continuous force during clamping, reducing operator fatigue and improving the stability and reliability of clamping.

[0016] Preferably, the first rotating tube has a sliding groove, and the first driving mechanism includes a sliding column slidably disposed in the sliding groove and a third driving member for driving the sliding column to slide. The first mounting seat is disposed on the sliding column, and the third driving member is disposed on the first rotating tube. A snap-fit ​​groove is formed on the side wall of the sliding groove, and a snap-fit ​​block is disposed on the sliding column. The snap-fit ​​block is slidably disposed in the snap-fit ​​groove. The second rotating tube has a sliding groove, and the second driving mechanism includes a sliding column slidably disposed in the sliding groove and a fourth driving member for driving the sliding column to slide. The second mounting seat is disposed on the sliding column, and the fourth driving member is disposed on the second rotating tube. A snap-fit ​​groove is formed on the side wall of the sliding groove, and a snap-fit ​​block is disposed on the sliding column. The snap-fit ​​block is slidably disposed in the snap-fit ​​groove.

[0017] By adopting the above technical solution, during the process of suturing tissue using this suturer, the third driving component drives the sliding column to slide along the sliding groove, and the sliding column drives the first mounting seat and the first clamping component set thereon to move relative to the first rotating tube, thereby adjusting the extension amount of the first clamping component; the snap-fit ​​block slides with the snap-fit ​​groove to guide and limit the movement of the sliding column, preventing the sliding column from deflecting or falling out during the sliding process; Similarly, the fourth driving component drives the sliding column to slide along the slide groove, and the sliding column drives the second mounting base and the second clamping component to move relative to the second rotating tube, adjusting the extension amount of the second clamping component; the locking block slides with the locking groove to guide and limit the movement of the sliding column; With the above structure, the surgeon can independently adjust the axial extension length of the two clamps according to the thickness of the tissue and the depth of the suture, so that the clamps can accurately reach the target position. At the same time, the cooperation between the locking block and the locking groove ensures the smoothness of the telescopic movement and the stability of the position, avoiding the clamps from retracting or shifting due to uneven force, thus improving the accuracy and reliability of suturing.

[0018] Preferably, the first rotating tube is provided with a first retaining member, and the first mounting base is slidably disposed on the first retaining member via a first sliding block; the second rotating tube is provided with a second retaining member, and the second mounting base is slidably disposed on the second retaining member via a second sliding block.

[0019] By adopting the above technical solution, during the suturing process using this suturer, the first mounting base is slidably mounted on the first retaining member via the first sliding block. The first retaining member provides stable sliding support and guidance for the first sliding block, making the sliding of the first mounting base and the first retaining member relative to the first rotating tube more stable and precise. Similarly, the second mounting base is slidably mounted on the second retaining member via the second sliding block. The second retaining member provides stable sliding support and guidance for the second sliding block, making the sliding of the second mounting base and the second retaining member relative to the second rotating tube more stable and precise.

[0020] Preferably, the first driving mechanism includes a first regulating component for regulating the rotation of the first rotating tube, the first regulating component being disposed within the mounting member; the second driving mechanism includes a second regulating component for regulating the rotation of the second rotating tube, the second regulating component being disposed within the mounting member.

[0021] By adopting the above technical solution, during the process of suturing tissue using this suturer, the first control component drives the first rotating tube to rotate relative to the mounting part, and the first rotating tube drives the first mounting base and the first clamping part to rotate synchronously, thereby adjusting the circumferential angle of the first clamping part; the second control component drives the second rotating tube to rotate relative to the mounting part, and the second rotating tube drives the second mounting base and the second clamping part to rotate synchronously, thereby adjusting the circumferential angle of the second clamping part. The surgeon can independently adjust the orientation of the two clamps according to the suture location, direction, and needle insertion direction of the tissue. This allows the first clamp to puncture the tissue at the optimal angle, while the second clamp accurately receives the needle from the opposite side at the corresponding angle. Both clamps can be adjusted independently without interference, greatly improving the adaptability of the suture device to different surgical scenarios, reducing the difficulty of operation, and improving the accuracy and flexibility of suturing.

[0022] Preferably, the mounting component is provided with a controller, a display screen and a control keyboard, and the controller is used to regulate the working status of the first drive mechanism and the second drive mechanism.

[0023] By adopting the above technical solution, during the process of suturing tissue using this suturer, the operator can input operation commands through the control keyboard, and the controller adjusts the working status of the first drive mechanism and / or the second drive mechanism according to the commands. The display screen displays the current working parameters of the drive mechanism and the posture information of the clamping parts in real time. The electronic control system enables precise control of the two drive mechanisms, reducing the uncertainty and operator fatigue of manual operation. At the same time, the real-time feedback provided by the display screen allows the surgeon to intuitively grasp the status of the suture device, reducing the risk of misoperation and improving the accuracy and safety of the suturing process.

[0024] Preferably, the mounting component is provided with an auxiliary operating handle, which is fixed to one end of the mounting component away from the first mounting base and the second mounting base, and the auxiliary operating handle is used for gripping or pulling.

[0025] By adopting the above technical solution, during the process of suturing tissue using this suture device, the surgeon can hold the auxiliary operating handle to control the suture device as a whole, or adjust the position and posture of the suture device by pulling the auxiliary operating handle; the auxiliary operating handle provides the surgeon with a stable point of force application, which facilitates the precise movement and positioning of the suture device in narrow body cavities, while reducing hand fatigue during long-term operation and improving the stability and comfort of the operation.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. During the suturing process using this suture device, the first drive mechanism drives the first clamping member to clamp one end of the suture needle and adjusts the suture needle to enter the tissue from one side, so that the other end of the suture needle exits from the other side of the tissue; after the second drive mechanism drives the second clamping member to clamp the other end of the suture needle from the other side of the tissue, the first drive mechanism drives the first clamping member to release the suture needle, and then the second drive mechanism adjusts the second clamping member to clamp the suture needle and pass it through the tissue, so that the suture thread passes through the tissue; subsequently, the first drive mechanism drives the first clamping member to clamp one end of the suture needle again, the second drive mechanism drives the second clamping member to release the suture needle, and then adjusts the suture needle to enter the tissue again from one side of the tissue, repeating the above steps to complete the suturing of the tissue; Since the first clamp and the second clamp have the same structure, and the first drive mechanism and the second drive mechanism have the same structure and are independent of each other, the surgeon can control the opening and closing and needle insertion of the two clamps separately according to the needs of the suture path, so as to realize the alternating shuttle and continuous suturing of the suture needle on both sides of the tissue. This suture device integrates the functions of two independent instruments into a single device, avoiding collision and interference between instruments, reducing the difficulty of hand coordination, and since the relative positions of the two clamps are fixed, the surgeon only needs to align with a single clockwise path, which improves the ease of operation under the two-dimensional field of vision of the endoscope. 2. During the process of suturing tissue using this suturer, the first driving member drives the first transmission rack to slide, the first transmission rack drives the first arc block to rotate through the first intermediate gear, and the first arc block drives the first upper clamping plate connected to it to move relative to the first lower clamping plate, so as to realize the clamping or release of one end of the suture needle by the first clamping member; Similarly, the second driving member drives the second transmission rack to slide, and the second transmission rack drives the second arc block to rotate through the second intermediate gear. The second arc block drives the second upper clamping plate connected to it to move relative to the second lower clamping plate, so as to realize the clamping or release of the other end of the suture needle by the second clamping member. The gear transmission structure provides smooth transmission and precise movement. The rotation angle of the arc block is linearly related to the sliding stroke of the rack, which makes it easy for the operator to accurately control the clamping force and opening and closing range. At the same time, the gear meshing has a self-locking characteristic, which can maintain the clamping force without continuous force when clamping, reducing operator fatigue and improving the stability and reliability of clamping. 3. During the suturing process using this suture device, the operator can input operation commands through the control keyboard. The controller adjusts the working status of the first and second drive mechanisms according to the commands, and the display screen shows the current working parameters of the drive mechanism and the posture information of the clamping parts in real time. The electronic control system enables precise control of the two drive mechanisms, reducing the uncertainty and operator fatigue of manual operation. At the same time, the real-time feedback provided by the display screen allows the surgeon to intuitively grasp the status of the suture device, reducing the risk of misoperation and improving the accuracy and safety of the suturing process. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an endoscopic suture device for minimally invasive surgery according to an embodiment of this application.

[0028] Figure 2 This is a schematic diagram of the internal structure of the mounting component in the embodiments of this application.

[0029] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0030] Explanation of reference numerals in the attached figures: 1. Mounting component; 11. Display screen; 12. Control keyboard; 13. Auxiliary operating handle; 2. First clamping component; 21. First lower clamping plate; 22. First upper clamping plate; 3. Second clamping component; 31. Second lower clamping plate; 32. Second upper clamping plate; 4. First drive mechanism; 41. First rotating tube; 411. Sliding groove; 4111. Snap-fit ​​groove; 412. First snap-fit ​​component; 42. First mounting base; 43. Sliding column; 431. Snap-fit ​​block; 44. Third drive component; 45. First drive assembly; 451. First arc block; 452. First intermediate gear; 453. First transmission rack; 454. First drive component; 46. 461. First control component; 462. First driving gear; 463. First driven gear; 5. Second drive mechanism; 51. Second rotating tube; 511. Slide groove; 5111. Slot; 512. Second holding member; 52. Second mounting base; 53. Slide column; 531. Locking block; 54. Fourth drive member; 55. Second drive assembly; 551. Second arc block; 552. Second intermediate gear; 553. Second transmission rack; 554. Second drive member; 56. Second control component; 561. Second motor; 562. Second driving gear; 563. Second driven gear; 6. Elastic anti-slip structure. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings.

[0032] This application discloses an endoscopic suture device for minimally invasive surgery. (See also...) Figure 1 As shown, an endoscopic suture device for minimally invasive surgery includes an mounting component 1, a first clamping component 2, a second clamping component 3, a first driving mechanism 4, a second driving mechanism 5, and an elastic anti-slip structure 6.

[0033] Reference Figure 1 , Figure 2 and Figure 3As shown, the first drive mechanism 4 includes a first rotating tube 41, a first mounting base 42, a sliding column 43, a third drive member 44, a first drive assembly 45, and a first adjustment assembly 46; the first rotating tube 41 is rotatably disposed in the mounting member 1, and the length direction of the first rotating tube 41 is the same as the length direction of the mounting member 1. A sliding groove 411 is provided inside the first rotating tube 41, and a snap-fit ​​groove 4111 is provided on the side wall of the sliding groove 411. The sliding column 43 is slidably disposed in the sliding groove 411. The length direction of the sliding column 43 is the same as the length direction of the first rotating tube 41. A snap-fit ​​block 431 is provided on the side wall of the sliding column 43, and the snap-fit ​​block 431 is slidably disposed in the snap-fit ​​groove 4111. The third driving member 44 is disposed on the first rotating tube 41. In this embodiment, the third driving member 44 is a cylinder. The sliding column 43 is fixed to the output end of the third driving member 44. The third driving member 44 drives the sliding column 43 to slide. The first mounting seat 42 is disposed on the sliding column 43. The first mounting seat 42 is located at the end of the sliding column 43 away from the third driving member 44. The first clamping member 2 includes a first lower clamping plate 21 and a first upper clamping plate 22; the first lower clamping plate 21 is disposed on the first mounting base 42, and the first upper clamping plate 22 is movably disposed on the first mounting base 42. The first upper clamping plate 22 and the first lower clamping plate 21 cooperate to clamp and release the suture needle.

[0034] Reference Figure 1 , Figure 2 and Figure 3 As shown, the second drive mechanism 5 includes a second rotating tube 51, a second mounting base 52, a sliding column 53, a fourth drive member 54, a second drive assembly 55, and a second adjustment assembly 56; the second rotating tube 51 is rotatably disposed within the mounting member 1, and the length direction of the second rotating tube 51 is the same as the length direction of the mounting member 1. The second rotating tube 51 has a sliding groove 511 inside, and a slot 5111 is provided on the side wall of the sliding groove 511. The sliding column 53 is slidably disposed in the sliding groove 511. The length direction of the sliding column 53 is the same as the length direction of the second rotating tube 51. A locking block 531 is provided on the side wall of the sliding column 53. The locking block 531 is slidably disposed in the slot 5111. The fourth driving member 54 is disposed on the second rotating tube 51. In this embodiment, the fourth driving member 54 is a cylinder, and the slide column 53 is fixed to the output end of the fourth driving member 54. The fourth driving member 54 drives the slide column 53 to slide. The second mounting seat 52 is disposed on the slide column 53 and is located at the end of the slide column 53 away from the fourth driving member 54. The second clamping member 3 includes a second lower clamping plate 31 and a second upper clamping plate 32; the second lower clamping plate 31 is disposed on the second mounting base 52, and the second upper clamping plate 32 is movably disposed on the second mounting base 52. The second upper clamping plate 32 and the second lower clamping plate 31 cooperate to clamp and release the suture needle.

[0035] Reference Figure 2 and Figure 3 As shown, during the suturing process using this suture device, the third drive member 44 drives the sliding column 43 to slide along the sliding groove 411. The sliding column 43 drives the first mounting base 42 and the first clamping member 2 disposed thereon to move relative to the first rotating tube 41, thereby adjusting the extension amount of the first clamping member 2. The snap-fit ​​block 431 slides with the snap-fit ​​groove 4111 to guide and limit the movement of the sliding column 43, preventing the sliding column 43 from deflecting or coming off during the sliding process. Similarly, the fourth driving member 54 drives the sliding column 53 to slide along the sliding groove 511, and the sliding column 53 drives the second mounting base 52 and the second clamping member 3 to move relative to the second rotating tube 51, adjusting the extension amount of the second clamping member 3; the locking block 531 slides with the locking groove 5111 to guide and limit the movement of the sliding column 53. With the above structure, the surgeon can independently adjust the axial extension length of the two clamps according to the thickness of the tissue and the suture depth, so that the clamps can accurately reach the target position. At the same time, the cooperation between the locking block 431 and the locking groove 4111, and between the locking block 531 and the locking groove 5111, ensures the smoothness of the telescopic movement and the stability of the position, avoiding the clamps from retracting or shifting due to uneven force, thus improving the accuracy and reliability of suturing.

[0036] Reference Figure 2 and Figure 3 As shown, the first drive assembly 45 includes a first arc block 451, a first intermediate gear 452, a first transmission rack 453, and a first drive member 454. The first arc block 451 and the first intermediate gear 452 are rotatably disposed in the first mounting base 42. The first intermediate gear 452 meshes with the first arc block 451. The first transmission rack 453 is slidably disposed in the first mounting base 42. The first transmission rack 453 meshes with the first intermediate gear 452. The first driving member 454 is disposed in the first mounting base 42. In this embodiment, the first driving member 454 is a cylinder, and the first transmission rack 453 is fixed to the output end of the first driving member 454. The first driving member 454 can drive the first transmission rack 453 to slide back and forth. During the process of suturing tissue using this suturer, the first drive member 454 drives the first transmission rack 453 to slide, and the first transmission rack 453 drives the first arc block 451 to rotate through the first intermediate gear 452. The first arc block 451 drives the first upper clamping plate 22 connected to it to move relative to the first lower clamping plate 21, thereby realizing the clamping or release of one end of the suture needle by the first clamping member 2.

[0037] Reference Figure 2 and Figure 3 As shown, the second drive assembly 55 includes a second arc block 551, a second intermediate gear 552, a second transmission rack 553, and a second drive member 554. The second arc block 551 and the second intermediate gear 552 are rotatably disposed in the second mounting base 52. The second intermediate gear 552 meshes with the second arc block 551. The second transmission rack 553 is slidably disposed in the second mounting base 52. The second transmission rack 553 meshes with the second intermediate gear 552. The second driving member 554 is disposed in the second mounting base 52. In this embodiment, the second driving member 554 is a cylinder, and the second transmission rack 553 is fixed to the output end of the second driving member 554. The second driving member 554 can drive the second transmission rack 553 to slide back and forth. During the process of suturing tissue using this suturer, the second drive member 554 drives the second transmission rack 553 to slide, and the second transmission rack 553 drives the second arc block 551 to rotate through the second intermediate gear 552. The second arc block 551 drives the second upper clamping plate 32 connected to it to move relative to the second lower clamping plate 31, so as to realize the clamping or release of the other end of the suture needle by the second clamping member 3. The gear transmission structure provides smooth transmission and precise movement. The rotation angle of the arc block is linearly related to the sliding stroke of the rack, which makes it easy for the operator to accurately control the clamping force and opening and closing range. At the same time, the gear meshing has a self-locking characteristic, which can maintain the clamping force without continuous force during clamping, reducing operator fatigue and improving the stability and reliability of clamping.

[0038] Reference Figure 2 and Figure 3 As shown, during tissue puncture, the first upper clamp 22 and the first lower clamp 21 close to firmly clamp one end of the suture needle; after the needle passes through the opposite side of the tissue, the second upper clamp 32 and the second lower clamp 31 close to clamp the other end of the suture needle. Then the first upper clamp 22 and the first lower clamp 21 open to release the suture needle, completing the transfer of the needle from the first clamp 2 to the second clamp 3. This facilitates control over the clamping and release timing of each clamp, achieving independent control of clamping and release. The action is reliable, the transfer is smooth, and the risk of needle dislodgement is effectively avoided.

[0039] Reference Figure 1 , Figure 2 and Figure 3As shown, the first control component 46 includes a first motor 461, a first driving gear 462, and a first driven gear 463. The first motor 461 is disposed in the mounting component 1, the first driving gear 462 is fixed on the output shaft of the first motor 461, and the first driven gear 463 is sleeved on the first rotating tube 41. The first driven gear 463 and the first rotating tube 41 are coaxially arranged. The first motor 461 controls the first drive gear 462 to rotate in the forward or reverse direction. Under the meshing action of the first drive gear 462 and the first driven gear 463, the first rotating tube 41 drives the first mounting base 42 and the first clamping member 2 to rotate synchronously, thereby adjusting the circumferential angle of the first clamping member 2. The second control component 56 includes a second motor 561, a second drive gear 562, and a second driven gear 563. The second motor 561 is disposed in the mounting component 1. The second drive gear 562 is fixed on the output shaft of the second motor 561. The second driven gear 563 is sleeved on the second rotating tube 51. The second driven gear 563 and the second rotating tube 51 are coaxially arranged. The second motor 561 controls the second drive gear 562 to rotate in the forward or reverse direction. Under the meshing action of the second drive gear 562 and the second driven gear 563, the second rotating tube 51 drives the second mounting base 52 and the second clamping member 3 to rotate synchronously, thereby adjusting the circumferential angle of the second clamping member 3. The surgeon can independently adjust the posture of the two clamps according to the thickness, location, and suture direction of the tissue, so that the first clamp 2 punctures the tissue at the optimal angle and depth, and the second clamp 3 accurately receives the needle from the opposite side in the corresponding posture; both clamps can be adjusted independently without interfering with each other, and both clamps have multi-degree-of-freedom adjustment capabilities, which greatly improves the adaptability of the suture device to different surgical scenarios, reduces the difficulty of operation, and improves the accuracy and flexibility of suturing.

[0040] Reference Figure 2 and Figure 3 As shown, a first retaining member 412 is provided on the first rotating tube 41, and a first mounting base 42 is slidably disposed on the first retaining member 412 via a first sliding block; a second retaining member 512 is provided on the second rotating tube 51, and a second mounting base 52 is slidably disposed on the second retaining member 512 via a second sliding block.

[0041] Reference Figure 2 and Figure 3As shown, during the suturing process using this suture device, the first retainer 412 provides stable sliding support and guidance for the first sliding block, making the sliding of the first mounting base 42 and the first clamp 2 relative to the first rotating tube 41 more stable and precise; similarly, the second retainer 512 provides stable sliding support and guidance for the second sliding block, making the sliding of the second mounting base 52 and the second clamp 3 relative to the second rotating tube 51 more stable and precise.

[0042] Reference Figure 2 and Figure 3 As shown, the first upper clamping plate 22, the first lower clamping plate 21, the second upper clamping plate 32, and the second lower clamping plate 31 are all provided with elastic anti-slip structures 6. The elastic anti-slip structures 6 generate elastic deformation when clamping the suture needle, increasing the friction with the needle body surface, thereby effectively preventing the suture needle from slipping or rotating during tissue puncture. When the clamping device opens to release the suture needle, the elastic anti-slip structure 6 returns to its original shape, allowing the needle to detach smoothly without jamming or snagging. This avoids scratches or damage to the needle surface that may be caused by rigid clamping, extends the service life of the suture needle, and improves surgical safety.

[0043] Reference Figure 1 and Figure 2 As shown, the mounting component 1 is equipped with a controller, a display screen 11 and a control keyboard 12. The controller is used to regulate the working status of the first drive mechanism 4 and the second drive mechanism 5. During the process of suturing tissue using this suturer, the surgeon can input operation commands through the control keyboard 12. The controller regulates the working status of the first drive mechanism 4 and the second drive mechanism 5 according to the commands. The display screen 11 displays the current working parameters of the drive mechanism and the posture information of the clamping component in real time. The electronic control system enables precise control of the two drive mechanisms, reducing the uncertainty and operator fatigue of manual operation. At the same time, the real-time feedback provided by the display screen 11 allows the operator to intuitively grasp the status of the suture device, reducing the risk of misoperation and improving the accuracy and safety of the suturing process.

[0044] Reference Figure 1 and Figure 2 As shown, the mounting component 1 is provided with an auxiliary operating handle 13. The auxiliary operating handle 13 is fixed to the end of the mounting component 1 away from the first mounting seat 42 and the second mounting seat 52. The auxiliary operating handle 13 is used for gripping or pulling. During the process of suturing tissue using this suture, the surgeon can hold the auxiliary operating handle 13 to control the suture as a whole, or adjust the position and posture of the suture by pulling the auxiliary operating handle 13. The auxiliary operating handle 13 provides the surgeon with a stable point of force, which is convenient for accurately moving and positioning the suture in narrow body cavities. At the same time, it reduces hand fatigue during long-term operation and improves the stability and comfort of operation.

[0045] The implementation principle of an endoscopic suture device for minimally invasive surgery according to an embodiment of this application is as follows: During the suturing process using this suture device, the first drive mechanism 4 drives the first clamping member 2 to clamp one end of the suture needle and adjusts the suture needle to enter the tissue from one side, so that the other end of the suture needle exits from the other side of the tissue; after the second drive mechanism 5 drives the second clamping member 3 to clamp the other end of the suture needle from the other side of the tissue, the first drive mechanism 4 drives the first clamping member 2 to release the suture needle, and then the second drive mechanism 5 adjusts the second clamping member 3 to clamp the suture needle and pass it through the tissue, so that the suture thread passes through the tissue; subsequently, the first drive mechanism 4 drives the first clamping member 2 to clamp one end of the suture needle again, the second drive mechanism 5 drives the second clamping member 3 to release the suture needle, and then adjusts the suture needle to enter the tissue again from one side of the tissue, repeating the above steps to complete the suturing of the tissue; Since the first clamp 2 and the second clamp 3 have the same structure, and the first drive mechanism 4 and the second drive mechanism 5 have the same structure and are independent of each other, the surgeon can control the opening and closing and needle insertion of the two clamps separately according to the needs of the suture path, so as to realize the alternating shuttle and continuous suturing of the suture needle on both sides of the tissue. This suture device integrates the functions of two independent instruments into a single device, avoiding collision and interference between instruments, reducing the difficulty of hand coordination, and since the relative positions of the two clamps are fixed, the surgeon only needs to align with a single clockwise path, which improves the ease of operation of the two-dimensional field of vision under endoscopy.

[0046] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An endoscopic suture device for minimally invasive surgery, comprising a mounting member (1), a first clamping member (2) disposed on the mounting member (1), and a second clamping member (3), characterized in that: The first clamping member (2) is used to releasably clamp one end of the suture needle, and the second clamping member (3) is used to releasably clamp the other end of the suture needle. The first clamping member (2) and the second clamping member (3) have the same structure. The mounting member (1) is provided with a first driving mechanism (4) for driving the first clamping member (2) to open and close and a second driving mechanism (5) for driving the second clamping member (3) to open and close. The first driving mechanism (4) and the second driving mechanism (5) have the same structure and are independent of each other.

2. The endoscopic suture device for minimally invasive surgery according to claim 1, characterized in that: The first driving mechanism (4) includes a first rotating tube (41) rotatably disposed within the mounting member (1) and a first mounting seat (42) slidably disposed on the first rotating tube (41), and the first clamping member (2) is disposed on the first mounting seat (42); the second driving mechanism (5) includes a second rotating tube (51) rotatably disposed within the mounting member (1) and a second mounting seat (52) slidably disposed on the second rotating tube (51), and the second clamping member (3) is disposed on the second mounting seat (52).

3. An endoscopic suture device for minimally invasive surgery according to claim 2, characterized in that: The first clamping member (2) includes a first lower clamping plate (21) disposed on the first mounting base (42) and a first upper clamping plate (22) cooperating with the first lower clamping plate (21) for clamping and releasing the suture needle. The first upper clamping plate (22) is movably disposed on the first mounting base (42). The first driving mechanism (4) includes a first driving component (45) for driving the first upper clamping plate (22) to move. The second clamping member (3) includes a second lower clamping plate (31) disposed on the second mounting base (52) and a second upper clamping plate (32) cooperating with the second lower clamping plate (31) for clamping and releasing the suture needle. The second upper clamping plate (32) is movably disposed on the second mounting base (52). The second driving mechanism (5) includes a second driving component (55) for driving the second upper clamping plate (32) to move.

4. An endoscopic suture device for minimally invasive surgery according to claim 3, characterized in that: The first upper clamping plate (22), the first lower clamping plate (21), the second upper clamping plate (32), and the second lower clamping plate (31) are all provided with elastic anti-slip structures (6).

5. An endoscopic suture device for minimally invasive surgery according to claim 3, characterized in that: The first drive assembly (45) includes a first arc block (451) rotatably disposed within the first mounting base (42), a first intermediate gear (452) meshing with the first arc block (451), a first transmission rack (453) meshing with the first intermediate gear (452), and a first drive member (454) for driving the first transmission rack (453) to slide. The first upper clamping plate (22) is connected to the first arc block (451). The second drive assembly (55) includes a second arc block (551) rotatably disposed within the second mounting base (52), a second intermediate gear (552) meshing with the second arc block (551), a second transmission rack (553) meshing with the second intermediate gear (552), and a second drive member (554) for driving the second transmission rack (553) to slide. The second upper clamping plate (32) is connected to the second arc block (551).

6. An endoscopic suture device for minimally invasive surgery according to claim 2, characterized in that: The first rotating tube (41) has a sliding groove (411) inside. The first driving mechanism (4) includes a sliding column (43) slidably disposed in the sliding groove (411) and a third driving member (44) for driving the sliding column (43) to slide. The first mounting base (42) is disposed on the sliding column (43), and the third driving member (44) is disposed on the first rotating tube (41). The sliding groove (411) has a snap-fit ​​groove (4111) on its side wall. The sliding column (43) has a snap-fit ​​block (431) disposed on its side wall. The snap-fit ​​block (431) is slidably disposed in the snap-fit ​​groove (4111). Inside the second rotating tube (51), a sliding groove (511) is provided. The second driving mechanism (5) includes a sliding column (53) slidably disposed in the sliding groove (511) and a fourth driving member (54) for driving the sliding column (53) to slide. The second mounting seat (52) is disposed on the sliding column (53). The fourth driving member (54) is disposed on the second rotating tube (51). A slot (5111) is provided on the side wall of the sliding groove (511). A locking block (531) is provided on the sliding column (53). The locking block (531) is slidably disposed in the slot (5111).

7. An endoscopic suture device for minimally invasive surgery according to claim 6, characterized in that: The first rotating tube (41) is provided with a first retaining member (412), and the first mounting base (42) is slidably disposed on the first retaining member (412) through a first sliding block; the second rotating tube (51) is provided with a second retaining member (512), and the second mounting base (52) is slidably disposed on the second retaining member (512) through a second sliding block.

8. An endoscopic suture device for minimally invasive surgery according to claim 2, characterized in that: The first drive mechanism (4) includes a first control component (46) for controlling the rotation of the first rotating tube (41), and the first control component (46) is disposed in the mounting component (1); the second drive mechanism (5) includes a second control component (56) for controlling the rotation of the second rotating tube (51), and the second control component (56) is disposed in the mounting component (1).

9. An endoscopic suture device for minimally invasive surgery according to claim 8, characterized in that: The mounting component (1) is equipped with a controller, a display screen (11) and a control keyboard (12). The controller is used to regulate the working status of the first drive mechanism (4) and the second drive mechanism (5).

10. An endoscopic suture device for minimally invasive surgery according to claim 2, characterized in that: An auxiliary operating handle (13) is provided on the mounting component (1). The auxiliary operating handle (13) is fixed to one end of the mounting component (1) away from the first mounting seat (42) and the second mounting seat (52). The auxiliary operating handle (13) is used for gripping or pulling.

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