Suturing mechanism and surgical robot

Abstract

A kind of suturing mechanism and surgical robot, the suturing mechanism includes rotatable suture assembly, thread adjusting assembly and suture needle, rotatable suture assembly is controlled to rotate, rotatable suture assembly includes first needle slot, drive slot, drive unit and first drive rope;First needle slot is configured to accommodate suture needle, drive slot is correspondingly arranged with first needle slot, drive unit is slidably arranged in drive slot, configured to drive suture needle, first drive rope is connected with drive unit, and along drive slot is arranged, configured to control drive unit to slide in drive slot, thread adjusting assembly is connected with the first drive rope, configured to: in the case where rotatable suture assembly is controlled to rotate, first drive rope is in tension state.This suturing mechanism can realize more stable, accurate drive operation.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a suturing mechanism and a surgical robot. Background Technology

[0002] With the continuous development of medical and engineering technologies, surgical robots have been widely used in various surgeries due to their advantages such as high precision, minimal trauma, high efficiency, and reduced workload for medical staff.

[0003] Suturing is an important procedure in many surgeries, using sutures to close the area to be sutured. Suturing typically involves puncture and knotting. Puncture involves passing the suture through the area to be sutured, while knotting involves tying the two ends of the suture that have passed through the area to secure it. Summary of the Invention

[0004] At least one embodiment of this disclosure provides a suturing mechanism, which includes a first suturing assembly, a second suturing assembly, and a third suturing assembly; the first suturing assembly is configured to be controllably rotatable and includes a first needle groove, the second suturing assembly includes a second needle groove, and the third suturing assembly includes a third needle groove; wherein the first suturing assembly is configured to: move under a first control to make the first needle groove and the second needle groove face each other, thereby making the first needle groove and the second needle groove together form a puncture track; and move under a second control to make the first needle groove and the third needle groove face each other, thereby making the first needle groove and the third needle groove together form a knotting track.

[0005] For example, in a suturing mechanism provided in at least one embodiment of this disclosure, the first suturing component has a first position and a second position; in the second position, the first needle groove and the second needle groove together form a puncture track, and in response to the first suturing component being controlled by the first control, the first suturing component moves from the first position to the second position; in the first position, the first needle groove and the third needle groove together form a knotting track, and in response to the first suturing component being controlled by the second control, the first suturing component moves from the second position to the first position.

[0006] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the movement of the first suturing assembly is rotation.

[0007] For example, in the suturing mechanism provided in at least one embodiment of this disclosure, the first needle groove, the second needle groove, and the third needle groove are all arc-shaped. When the first needle groove and the second needle groove are opposite each other, the second needle groove and the first needle groove have the same first center; when the first needle groove and the third needle groove are opposite each other, the first needle groove and the third needle groove have the same second center.

[0008] For example, at least one embodiment of the suturing mechanism provided in this disclosure further includes: a suture needle slidably accommodated in one of the first needle groove, the second needle groove, and the third needle groove, wherein the suture needle is arc-shaped; wherein the first suturing assembly is configured to: when the first needle groove is aligned with the second needle groove under the first control, drive the suture needle to move along the puncture track to slide from the first needle groove to the second needle groove and then back to the first needle groove to perform a puncture operation; and when the first needle groove is aligned with the third needle groove under the second control, drive the suture needle to move along the knotting track to slide from the first needle groove to the third needle groove and then back to the first needle groove to perform a knotting operation.

[0009] For example, in the suturing mechanism provided in at least one embodiment of this disclosure, at least the arc shape of the first needle groove, the second needle groove, and the third needle groove is a minor arc; or, the arc shape of the first needle groove is a major arc, and the arc shapes of the second needle groove and the third needle groove are both minor arcs.

[0010] For example, in the suturing mechanism provided in at least one embodiment of this disclosure, any one of the first suturing assembly, the second suturing assembly, and the third suturing assembly further includes: a drive slide groove, which is arc-shaped and corresponding to the needle slide groove of the suturing assembly to which it is located; and a drive unit, which is slidably disposed in the drive slide groove and configured to drive the suturing needle that is slidably accommodated in the needle slide groove of the suturing assembly to which it is located.

[0011] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the suturing mechanism further includes a suturing drive motor; each suturing component further includes: a first drive rope connected between the suturing drive motor and the drive unit, configured to be driven by the suturing drive motor to control the drive unit to slide in the drive groove to drive the suturing needle.

[0012] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the suturing mechanism further includes: a switching drive motor and a second drive rope; the second drive rope is connected between the switching drive motor and the first suturing assembly; in response to the switching drive motor driving the second drive rope to move, the first suturing assembly switches between the first position and the second position.

[0013] For example, in a suturing mechanism provided in at least one embodiment of this disclosure, in response to the switching drive motor driving the second drive rope to move, the second drive rope drives the first suturing assembly to switch between the first position and the second position.

[0014] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the suturing mechanism further includes an elastic element; the elastic element is connected to the first suturing assembly; in response to the conversion drive motor driving the second drive rope to move in a first direction, the elastic element deforms to store energy; in response to the conversion drive motor driving the second drive rope to move in a second direction, the elastic element releases energy; in response to the conversion drive motor driving the second drive rope to drive the first suturing assembly, and in response to the elastic element releasing energy to drive the first suturing assembly, the first suturing assembly switches between a first position and a second position.

[0015] At least one embodiment of this disclosure also provides a suturing mechanism, including a rotatable suturing assembly, a thread adjusting assembly, and a suturing needle. The rotatable suturing assembly is controlled to rotate and includes a first needle groove, a drive groove, a drive unit, and a first drive rope. The first needle groove is configured to accommodate the suturing needle. The drive groove corresponds to the first needle groove. The drive unit is slidably disposed in the drive groove and configured to drive the suturing needle. The first drive rope is connected to the drive unit and disposed along the drive groove, configured to control the drive unit to slide in the drive groove. The thread adjusting assembly is connected to the first drive rope and configured to keep the first drive rope in a tensioned state when the rotatable suturing assembly is controlled to rotate.

[0016] For example, in a suturing mechanism provided in at least one embodiment of this disclosure, the first drive rope is composed of a first part and a second part, the first part being disposed along the drive groove; the line adjustment assembly is configured to compensate for the stroke of the first part and / or the second part, such that when the rotatable suturing assembly is rotated in a controlled manner, the first drive rope is in a tensioned state.

[0017] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the drive chute has a first end and a second end opposite to each other, and the thread adjusting assembly includes a first chute segment disposed at the first end and / or a second chute segment disposed at the second end. The width of the first chute segment is configured such that when the rotatable suturing assembly is rotated in a controlled manner, the first drive rope moves in the first chute segment along the width direction to keep the first drive rope in a tensioned state. The width of the second chute segment is configured such that when the rotatable suturing assembly is rotated in a controlled manner, the first drive rope moves in the second chute segment along the width direction to keep the first drive rope in a tensioned state.

[0018] For example, in the sewing mechanism provided in at least one embodiment of this disclosure, the diameter of the first drive rope is D1; ​​the width of the first chute section is W1, 5≥W1 / D1≥2; and the width of the second chute section is W2, 5≥W2 / D1≥2.

[0019] For example, at least one embodiment of the suturing mechanism provided in this disclosure further includes a rotating shaft, wherein the drive slide has a first end and a second end opposite to each other, the rotatable suturing assembly is connected to the rotating shaft, the first end and the second end of the drive slide are located on the rotating shaft, and the first drive rope extends from the first end and the second end.

[0020] For example, at least one embodiment of the suturing mechanism provided in this disclosure further includes a conversion drive motor and a second drive rope: the second drive rope is connected between the conversion drive motor and the rotatable suturing assembly; in response to the conversion drive motor driving the second drive rope to move, the rotatable suturing assembly is rotated in a controlled manner.

[0021] For example, in a suturing mechanism provided in at least one embodiment of this disclosure, one end of the second drive rope is wound around the rotatable suturing assembly; in response to the conversion drive motor driving the second drive rope to move, the second drive rope drives the rotatable suturing assembly to achieve controlled rotation.

[0022] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the suturing mechanism further includes an elastic element; the elastic element is connected to the rotatable suturing assembly; in response to the conversion drive motor driving the second drive rope to move along a first direction, the second drive rope driving the rotatable suturing assembly to rotate along a first rotation direction, the elastic element deforms to store energy; in response to the conversion drive motor driving the second drive rope to move along a second direction, the elastic element releases energy to drive the rotatable suturing assembly to rotate along the second rotation direction.

[0023] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the suturing mechanism further includes a suturing drive motor; a first drive rope is connected between the suturing drive motor and the drive unit, and is configured to be driven by the suturing drive motor to control the drive unit to slide in the drive groove to drive the suturing needle.

[0024] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the driving unit includes a suture needle drive seat, a suture needle drive member, and a suture needle drive elastic member. The suture needle drive elastic member is disposed on the suture needle drive seat and connected to the suture needle drive member. The suture needle drive seat is slidably disposed in the driving groove, and the first driving rope is connected to the suture needle drive seat. The suture needle drive elastic member is configured to bias the suture needle drive member toward the suture needle.

[0025] For example, at least one embodiment of the suturing mechanism provided in this disclosure further includes: a second suturing assembly including a second needle groove, and a third suturing assembly including a third needle groove; wherein the rotatable suturing assembly is configured to: be rotated under a first control so that the first needle groove and the second needle groove are opposite each other, thereby forming a suturing track together; and be rotated under a second control so that the first needle groove and the third needle groove are opposite each other, thereby forming a knotting track together.

[0026] For example, in at least one embodiment of the suturing mechanism provided in this disclosure, the rotatable suturing assembly is configured to: when the first needle groove is aligned with the second needle groove under the first control, drive the suture needle to move along the suturing track to slide from the first needle groove to the second needle groove and then back to the first needle groove to perform a puncture operation; and when the first needle groove is aligned with the third needle groove under the second control, drive the suture needle to move along the knotting track to slide from the first needle groove to the third needle groove and then back to the first needle groove to perform a knotting operation.

[0027] At least one embodiment of this disclosure also provides a surgical robot, which includes a robotic arm and any of the above-described suturing mechanisms, the suturing mechanism being disposed on the robotic arm. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0029] Figure 1This is a schematic diagram of the suturing mechanism provided in at least one embodiment of the present disclosure;

[0030] Figure 2 for Figure 1 A schematic diagram of the structure of the suture mechanism in which the first needle groove and the second needle groove are opposite to each other;

[0031] Figure 3A for Figure 1 A schematic diagram of the suture mechanism in which the first needle groove and the second needle groove are located on the first plane and form a puncture track;

[0032] Figure 3B for Figure 1 A schematic diagram of the first and third needle grooves in the sewing mechanism being located on the second plane and forming a knotting track;

[0033] Figure 4A This is a schematic diagram of the structure of the second suture assembly provided in at least one embodiment of the present disclosure;

[0034] Figure 4B This is a schematic diagram of the structure of the third suture assembly provided in at least one embodiment of the present disclosure;

[0035] Figure 5 A schematic diagram illustrating a puncture operation performed by a suture mechanism provided in at least one embodiment of this disclosure;

[0036] Figure 6 A schematic diagram of the structure of the first suture assembly of the suture mechanism provided in at least one embodiment of the present disclosure;

[0037] Figure 7 A partial structural schematic diagram of the first suture assembly of a suture mechanism provided in at least one embodiment of the present disclosure;

[0038] Figure 8 A schematic diagram of the drive structure of the first suture assembly of the suture mechanism provided in at least one embodiment of the present disclosure;

[0039] Figure 9 Another schematic diagram of the drive structure of the first suture assembly of the suture mechanism provided in at least one embodiment of the present disclosure;

[0040] Figure 10 Another schematic diagram of the drive structure of the first suturing component of the suturing mechanism provided in at least one embodiment of the present disclosure;

[0041] Figure 11 A schematic diagram of the first drive rope of the sewing mechanism provided in at least one embodiment of this disclosure in different states;

[0042] Figure 12 A diagram illustrating the process of knotting an operation performed by a sewing mechanism provided in at least one embodiment of this disclosure;

[0043] Figure 13 Another process diagram showing the knotting operation of the sewing mechanism provided in at least one embodiment of this disclosure;

[0044] Figure 14 for Figure 13 Simplified diagrams of the various structures in the diagram;

[0045] Figure 15 Another process diagram showing the knotting operation of the sewing mechanism provided in at least one embodiment of this disclosure;

[0046] Figure 16 for Figure 15 Simplified diagrams of the various structures in the diagram;

[0047] Figure 17 This is a schematic diagram of the structure of a surgical robot provided in one embodiment of the present disclosure;

[0048] Figures 18-21 A schematic diagram illustrating the process of a suture mechanism according to an embodiment of this disclosure, during a puncture operation, in which a suture needle enters from a first suture assembly, enters a second suture assembly, and returns from the second suture assembly to the first suture assembly; and

[0049] Figure 22 This is a schematic diagram of a suture needle for a suture mechanism provided in one embodiment of the present disclosure. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this disclosure clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0052] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "second," "first," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0053] Traditional surgical robots, or surgical actuators located at the end of surgical robots, can only assist medical staff in suturing operations; they cannot perform suturing independently. For example, after a puncture, the surgical robot or actuator requires medical staff to manually tie the knot using simple tools. Therefore, even with the involvement of surgical robots, some complex surgical procedures still require a long time and rely heavily on the work of medical staff, resulting in low surgical efficiency and a poor patient experience.

[0054] On the other hand, since suturing operations include puncture and knotting, and knotting requires complex winding of the suture thread, designing an efficient, stable, and structurally compact suturing mechanism has always been a technical challenge in the industry.

[0055] In this regard, at least one embodiment of the present disclosure provides a suturing mechanism, which includes a first suturing assembly, a second suturing assembly, and a third suturing assembly; the first suturing assembly is configured to be controllably rotatable, and includes a first needle groove, the second suturing assembly includes a second needle groove, and the third suturing assembly includes a third needle groove. The first suturing assembly is configured to: move under a first control to make the first needle groove and the second needle groove face each other, thereby making the first needle groove and the second needle groove together form a puncture track; and move under a second control to make the first needle groove and the third needle groove face each other, thereby making the first needle groove and the third needle groove together form a knotting track.

[0056] Therefore, in the suturing mechanism provided in this embodiment, the first suturing component is a rotatable suturing component. By controlling the rotation of the rotatable suturing component, the rotatable suturing component can cooperate with the second or third suturing component to perform puncture or knotting operations. The suturing mechanism has a simple structure, is easy to operate, can be automated, and makes the suturing process more efficient.

[0057] At least one embodiment of this disclosure also provides a suturing mechanism, which includes a rotatable suturing assembly, a thread adjusting assembly, and a suturing needle. The rotatable suturing assembly is controllably rotatable and includes a first needle groove, a drive groove, a drive unit, and a first drive rope. The first needle groove is configured to accommodate the suturing needle, and the drive groove is correspondingly arranged with the first needle groove. The drive unit is slidably disposed in the drive groove and configured to drive the suturing needle. The first drive rope is connected to the drive unit and is disposed along the drive groove and configured to control the drive unit to slide in the drive groove. The thread adjusting assembly is connected to the first drive rope and configured to keep the first drive rope in a tensioned state when the rotatable suturing assembly is controlled to rotate.

[0058] Therefore, in the suturing mechanism provided in this embodiment, by setting a thread adjustment component, the first drive rope can be kept in a taut state at all times when the rotatable suturing assembly is rotated in a controlled manner. This improves the driving accuracy and precision of the first drive rope, avoids deviations in the driving process caused by slack in the first drive rope, and thus enhances the accuracy and safety of the suturing mechanism.

[0059] At least one embodiment of this disclosure also provides a surgical robot, which includes a robotic arm and the aforementioned suturing mechanism, the suturing mechanism being disposed on the robotic arm. This surgical robot can utilize the suturing mechanism to perform automated suturing operations, making the surgical process more efficient and saving labor costs.

[0060] The suturing mechanism and surgical execution device of this disclosure are described below through several specific embodiments.

[0061] This disclosure provides at least one embodiment of a suturing mechanism 100, Figure 1 A schematic diagram of the suture mechanism 100 is shown, as follows: Figure 1 As shown, the suture mechanism 100 includes a first suture assembly 130, a second suture assembly 110, and a third suture assembly 120; the first suture assembly 130 is configured to be controllably rotatable, and can be implemented as a rotatable suture assembly, and includes a first needle groove 131; the second suture assembly 110 includes a second needle groove 112, and can be implemented as a puncture assembly, for example; the third suture assembly 120 includes a third needle groove 122 (see reference). Figure 4BFor example, it can be implemented as a knotting component; the first suture component 130 is configured to: move under a first control so that the first needle groove 131 is opposite to the second needle groove 112, so that the first needle groove 131 and the second needle groove 112 together form a puncture track 111, so that the first suture component 130 and the second suture component 110 cooperate to perform a puncture operation; and move under a second control, for example, rotate so that the first needle groove 131 is opposite to the third needle groove 122, so that the first needle groove 131 and the third needle groove 122 together form a knotting track 121, so that the first suture component 130 and the third suture component 120 cooperate to perform a knotting operation.

[0062] The term "relative" to the two needle grooves mentioned above includes cases where the two needle grooves are arranged symmetrically or asymmetrically.

[0063] Thus, through the rotation operation of the first suture assembly 130, the first suture assembly 130 can cooperate with the second suture assembly 110 or the third suture assembly 120 respectively to form a puncture track or a knotting track, thereby performing puncture and knotting operations, thereby achieving a complete suture operation.

[0064] For example, the first suture assembly 110 has a first position ( Figure 1 The position shown in the middle) and the second position ( Figure 2 (as shown in the diagram); in the second position, the first needle groove 131 and the second needle groove 112 together form a puncture track 111, and in response to the first suture assembly 110 being controlled by the first control, the first suture assembly 110 moves from the first position to the second position; in the first position, the first needle groove 131 and the third needle groove 112 together form a knotting track 121, and in response to the first suture assembly 110 being controlled by the second control, the first suture assembly 110 moves from the second position to the first position.

[0065] For example, Figure 2 This illustrates the alignment of the first needle groove 131 and the second needle groove 112 of the suture mechanism 100, for reference. Figure 1 and Figure 2 Under first control, the first needle groove 131 and the second needle groove 112 are aligned, and the first suture assembly 130 and the second suture assembly 110 cooperate to achieve the puncture operation; Reference Figure 3AThe center lines of the first needle groove 131 and the second needle groove 112 are located in the first plane P1, forming a puncture track 111. For example, ideally, under the first control, the first needle groove 131 and the second needle groove 112 are directly opposite each other, and their center lines are located in the first plane P1, forming a puncture track 111. Under the second control, the first needle groove 131 and the third needle groove 122 are opposite each other, and the first suture assembly 130 and the third suture assembly 120 cooperate to achieve a knotting operation. (Reference) Figure 3B The center lines of the first needle groove 131 and the third needle groove 122 are located in the second plane P2, forming a knotting track 121; for example, under the second control, the first needle groove 131 and the third needle groove 122 are facing each other, and the center lines of the first needle groove 131 and the third needle groove 122 are located in the second plane P2, forming a knotting track 121.

[0066] For example, to accommodate the sutured tissue, the puncture track 111 formed by the first needle groove 131 and the second needle groove 112 is not a complete circular track, but rather a track formed by the joining of two arcs, with a gap between the two arcs to accommodate the sutured tissue T. In this case, the suture needle can travel along a circular trajectory in the puncture track 111. Similarly, the knotting track 121 formed by the first needle groove 131 and the third needle groove 122 is not a complete circular track, but rather a track formed by the joining of two arcs, with a gap between the two arcs to accommodate the sutured tissue T. In this case, the suture needle can travel along a circular trajectory in the knotting track 121.

[0067] For example, the angle between the first plane P1 and the second plane P2 is between 70 and 110 degrees, such as 70, 80, 90, 100, or 110 degrees. Thus, the piercing and knotting operations are performed on different planes with significant spatial differences, avoiding interference between the structures used for piercing and knotting, and facilitating the smooth execution of both operations.

[0068] For example, in some embodiments, reference Figure 1 The suture mechanism 100 includes a first main frame B1 and a second main frame B2 spaced apart. A first suture assembly 130 and a third suture assembly 120 are disposed on the first main frame B1. For example, the first suture assembly 130 is rotatably connected to the first main frame B1, and the third suture assembly 120 is fixedly disposed on the first main frame B1. A second suture assembly 110 is disposed on the second main frame B2, for example, fixedly disposed on the second main frame B2. The gap between the first main frame B1 and the second main frame B2 can accommodate the sutured tissue T (see reference). Figure 5Under first control, i.e., when the first needle groove 131 and the second needle groove 112 are opposite, the first suture assembly 130 and the second suture assembly 110 cooperate, and the suture needle 190 can puncture the sutured tissue T to achieve a puncture operation. For example, Figure 4A A schematic diagram of the structure of the second suture assembly provided in at least one embodiment of the present disclosure is shown, as follows: Figure 4A As shown, the second suture assembly 110 includes a second needle groove 112. Figure 4B A schematic diagram of the structure of the third suture assembly provided in at least one embodiment of this disclosure is shown, such as... Figure 4B As shown, the third suture assembly 120 includes a third needle groove 122; for example, in some examples, the second suture assembly 110 and the third suture assembly 120 have essentially the same structure, except that the second suture assembly 110 and the third suture assembly 120 are positioned differently to achieve different functions.

[0069] For example, apart from the first suture assembly 130 having a rotatable structure, the second suture assembly 110 and the third suture assembly 120 have essentially the same structure as the first suture assembly 130. The specific structure of the first suture assembly 130 will be described below as an example.

[0070] For example, in some embodiments, such as Figure 2 As shown, the suturing mechanism 100 may further include a suture needle 190. The suture needle 190 is slidably received in one of the first needle groove 131, the second needle groove 112, and the third needle groove 122. For example, in the initial state, the suture needle 190 is disposed in the first needle groove 131 of the first suturing assembly 130. At this time, the first suturing assembly 130 can be configured as follows: (Refer to...) Figure 2 When the first needle groove 131 is aligned with the second needle groove 112 under the first control, the suture needle 190 is driven to move from the first needle groove 131 to the second needle groove 112 and then back to the first needle groove 131 to perform a puncture operation, so that the suture punctures the sutured tissue T. At this time, the suture needle 190 moves along the puncture track 111, for example, by rotating one revolution, to achieve puncture; Reference Figure 1 When the first suture assembly 130 is controlled by the second control so that the first needle groove 131 is opposite to the third needle groove 122, the suture needle 190 is driven to move from the first needle groove 131 to the third needle groove 122 and then back to the first needle groove 131 to perform a knotting operation. At this time, the suture needle 190 moves along the knotting track 121, for example, rotates one revolution to achieve knotting.

[0071] Therefore, by controlling the rotation of the first suture assembly 130, that is, the rotatable suture assembly, the rotatable first suture assembly can cooperate with the second suture assembly 110 or the third suture assembly 120 to perform puncture or knotting operations. The suture mechanism 100 has a simple structure, is easy to operate, can be automated, makes the suture process more efficient, and saves labor costs.

[0072] For example, in actual operation, due to the alignment error of the device, a certain structure may deviate from the ideal position, and the structures may not achieve the ideal alignment state, but will deviate slightly from the above ideal situation. In this case, the structures can still be operated according to the above principle. These situations are all embodiments of this disclosure.

[0073] For example, in some embodiments, the first needle groove 131, the second needle groove 112, and the third needle groove 122 are all arc-shaped. When the first needle groove 131 and the second needle groove 112 are opposite each other, that is, during a puncture operation, refer to... Figure 3A The second needle groove 112 and the first needle groove 131 share the same first center C1. Therefore, during the puncture operation, the suture needle 190 moves in a circular trajectory around the first center C1. When the first needle groove 131 is opposite to the third needle groove 122, that is, during the knotting operation, refer to... Figure 3B The first needle groove 131 and the third needle groove 122 have the same second center C2. Therefore, when performing the knotting operation, the sewing needle 190 moves in a circular trajectory with the second center C2 as the center, so that after performing the corresponding operation, the sewing needle 190 can return to the initial position for the next operation.

[0074] For example, in some embodiments, among the first needle groove 131, the second needle groove 112, and the third needle groove 122, at least the arc shape of the first needle groove 131 is a minor arc, that is, the central angle corresponding to the arc shape is less than 180 degrees; or, the arc shape of the first needle groove 131 is a major arc, that is, the central angle corresponding to the arc shape is greater than 180 degrees, and the arc shapes of the second needle groove 112 and the third needle groove 122 are both minor arcs. For example, in one example, the arc shapes of the first needle groove 131, the second needle groove 112, and the third needle groove 122 are all minor arcs, that is, the central angle corresponding to the arc shape is less than 180 degrees, for example, the central angle corresponding to the arc shape is 110 degrees-170 degrees, such as 120 degrees, 130 degrees, 140 degrees, 150 degrees, or 160 degrees, etc. Therefore, when the first needle groove 131 and the second needle groove 112 are opposite each other, such as Figure 5As shown, there can be a large gap between the first needle groove 131 and the second needle groove 112 to accommodate sutured tissue T of different thicknesses, in order to adapt to thicker sutured tissue T, thereby expanding the surgical scope of the suturing mechanism 100.

[0075] For example, Figure 6 A schematic diagram of the structure of a first suture assembly of a suture mechanism provided in at least one embodiment of the present disclosure is shown. In some embodiments, such as... Figure 6 As shown, the first suture assembly 130 also includes structures such as a drive slide 132 and a drive unit 133. For example, the drive slide 132 is arc-shaped and is correspondingly arranged with the first needle slide 131. The drive unit 133 is slidably arranged in the drive slide 132 and is configured to drive the suture needle 190 in the first needle slide 131.

[0076] For example, the first needle groove 131 is in the shape of a first arc, and the drive groove 132 is in the shape of a second arc. The arc length (ratio of arc length to radius) of the first and second arcs is the same. Thus, the first needle groove 131 and the drive groove 132 are basically arranged in parallel, so that the driving process of the drive unit 133 on the suture needle 190 is more stable and smooth.

[0077] For example, in some embodiments, such as Figure 6 As shown, the suturing mechanism also includes a suturing drive motor M1; the first suturing assembly 130 may further include a first drive rope 134, which is connected between the suturing drive motor M1 and the drive unit 133. The first drive rope 134 is configured to be driven by the suturing drive motor M1 to control the drive unit 133 to slide in the drive groove 132, thereby driving the suturing needle 190 to move in the first needle groove 131. For example, the first drive rope 134 may be made of metal or alloy such as steel wire, and the embodiments of this disclosure do not specifically limit this. The above-described rope-driven driving method is advantageous for achieving precise and accurate driving in a small space.

[0078] For example, such as Figure 6 As shown, the first needle groove 131 includes an arc-shaped slit 131A, which is located inside the first suture assembly 130. During the puncture operation, the arc-shaped slit 131A faces the second needle groove 112, and during the knotting operation, the arc-shaped slit 131A faces the third needle groove 122. Thus, when the suture needle 190 moves in the first needle groove 131, the suture connected to it can fall out from the arc-shaped slit 131A without getting tangled in the first needle groove 131, allowing the suture to pass smoothly through the tissue and complete the knotting.

[0079] For example, in some embodiments, such as Figure 6As shown, the first suture assembly 130 includes a first main body portion 130A and a second main body portion 130B. For example, a portion of a first needle groove 131 is formed in the first main body portion 130A, and another portion of the first needle groove 131 is formed in the second main body portion 130B. Thus, after the first main body portion 130A and the second main body portion 130B are connected, a complete first needle groove 131 is formed, and the aforementioned arc-shaped gap 131A is formed between the first main body portion 130A and the second main body portion 130B. For example, a drive groove 132 is provided in the second main body portion 130B. This drive groove 132 can communicate with the first needle groove 131, so that the drive unit 133 provided in the drive groove 132 can drive the suture needle 190 in the first needle groove 131. Figure 6 As shown, the first stitching assembly 130 also includes a connector 130C that connects the first main body portion 130A and the second main body portion 130B. The connector 130C can be a fixed connection structure such as a bolt.

[0080] For example, Figure 7 A schematic diagram showing the interaction between the drive unit of the first suture assembly and the suture needle is shown. Figure 8 A schematic diagram showing the connection between the drive unit of the first stitching assembly and the first drive rope is shown. In some embodiments, such as... Figure 7 and Figure 8 As shown, the drive unit 133 includes a suture needle drive seat 1331, a suture needle drive component 1332, and a suture needle drive elastic element 1332A. The suture needle drive elastic element 1332A is disposed on the suture needle drive seat 1331 and connected to the suture needle drive component 1332. The suture needle drive seat 1331 is slidably disposed in the drive groove 132, and the first drive rope 132 is connected to the suture needle drive seat 1331.

[0081] For example, Figure 22 A schematic diagram of a suture needle provided in at least one embodiment of the present disclosure is shown, such as... Figure 22 As shown, the suture needle 190 has a first drive member 191 and a first drive member 192. The suture needle drive elastic member 1332A is configured to bias the suture needle drive member 1332 toward the suture needle, thereby enabling the suture needle drive member 1332 to be detachably connected to the first drive member 191 or the first drive member 192.

[0082] For example, in some embodiments, under the action of the suture needle drive elastic member 1332A, the suture needle drive member 1332 is configured to move in the vertical direction to protrude from or retract into the suture needle drive seat 1331.

[0083] For example, in some examples, the suture needle drive seat 1331 includes a sliding part 1331A and a drive part 1331B; the sliding part 1331A is slidably connected to the drive groove 132, and the drive part 1331B includes a receiving groove 1333, the opening of the receiving groove 1333 facing the first needle groove 131, the suture needle drive member 1332 and the suture needle drive elastic member are disposed in the receiving groove 1333, and the suture needle drive member 1332 is configured to be controlled to retract into the receiving groove 1333, thereby realizing different control states.

[0084] For example, when the suture needle drive member 1332 extends out of the receiving groove 1333, it can abut against the drive member of the suture needle 190. Figure 7 The diagram shows a suture needle drive member 1332 abutting against a first drive member 191. The first drive member 191 is, for example, in the form of a groove that mates with the suture needle drive member 1332, so that the suture needle drive member 1332 can drive the suture needle 190 to move along the first needle groove 131 through the first drive member 191. For example, when the suture needle drive member 1332 is controlled to retract into the receiving groove 1333, the suture needle drive member 1332 disengages from the suture needle 190, thereby facilitating the suture needle 190 to slide out of the first needle groove 131.

[0085] For example, in some examples, such as Figure 8 As shown, the suture needle drive elastic member 1332A may include a spring. The suture needle drive member 1332 is elastically disposed in the receiving groove 1333 by the spring, for example, a compression spring, configured to drive the suture needle drive member 1332 out of the receiving groove 1333 and to be compressed under pressure to allow the suture needle drive member 1332 to retract into the receiving groove 1333. For example, in other embodiments, the suture needle drive member 1332 may also take other forms, which are not limited by the embodiments of this disclosure.

[0086] For example, in some embodiments, such as Figure 8 As shown, the sliding part 1331A also includes a fixing part 1334, which is disposed on the side of the sliding part 1331A away from the driving part 1331B. The fixing part 1334 is configured to fix the first driving rope 134.

[0087] For example, Figure 9 A schematic diagram shows the drive unit of the first stitching assembly disposed in the drive slide, as shown. Figure 9 As shown, the sliding portion 1331A of the suture needle drive seat 1331 of the drive unit 133 is slidably connected to the drive groove 132. The first drive rope 134 is arranged along the drive groove 132 and extends from both ends of the drive groove 132. The two ends 134A and 134B of the first drive rope 134 can be controlled, for example, referring to... Figure 8Pulling end 134A and releasing end 134B, drive unit 133 drives suture needle 190 towards Figure 8 Moving to the left, pulling end 134B and releasing end 134A, drive unit 133 drives suture needle 190 towards Figure 7 The right side moves, thereby controlling the first drive rope 134 to achieve the reciprocating drive of the drive unit 133.

[0088] For example, such as Figure 4A As shown, the second stitching assembly 110 also includes a drive slide 115, a drive rope 114, and a drive unit (not shown) and other drive structures; similarly, as Figure 4B As shown, the third suture assembly 120 also includes a drive groove 123, a drive rope 124, and a drive unit (not shown) and other drive structures to drive the suture needle 190.

[0089] For example, such as Figure 7 and Figure 22 As shown, in some embodiments, the first driving component 191 and the second driving component 192 are respectively disposed at both ends of the suture needle 190. For example, the suture needle 190 includes a head end 190A and a tail end 190B, the second driving component 192 is disposed at the head end 190A, and the first driving component 191 is disposed at the tail end 190B. When a puncture operation is performed, as... Figure 2 As shown, the first needle groove 131 and the second needle groove 112 are opposite each other. The suture needle driving component 133 of the driving unit cooperates with the first driving component 191 of the suture needle 190 to drive the suture needle 190 to slide from the first needle groove 131 to the second needle groove 112. At this time, refer to Figure 18 The tip 190A of the suture needle 190 first slides out of the first needle groove 131 and enters the second needle groove 112. After entering the second needle groove 112, the second driving component 192 located at the tip 190A of the suture needle 190 can cooperate with the driving unit of the second suture assembly 110 and be driven by the driving unit of the second suture assembly 110 to make the suture needle 190 slide in the second needle groove 112. Figure 19 As shown. At the same time, the drive unit of the first suture assembly 130 disengages from the first drive component 191 of the suture needle 190.

[0090] Similarly, when performing a knotting operation, such as Figure 1As shown, the first needle groove 131 and the third needle groove 122 are opposite each other. The suture needle driving member 133 of the driving unit cooperates with the first driving member 191 of the suture needle 190 to drive the suture needle 190 to slide from the first needle groove 131 to the third needle groove 122. At this time, the tip 190A of the suture needle 190 first slides out of the first needle groove 131 and enters the third needle groove 122. After entering the third needle groove 122, the second driving member 192 located at the tip 190A of the suture needle 190 can cooperate with the driving unit of the third suture assembly 120 and be driven by the driving unit of the third suture assembly 120 to make the suture needle 190 slide in the third needle groove 122. At the same time, the driving unit of the first suture assembly disengages from the first driving member 191 of the suture needle 190.

[0091] For example, the first driving component 191 and the second driving component 192 have basically the same structure, both being in the form of a groove, such as Figure 7 As shown, the groove includes a guide surface 193 and a holding surface 194. When the suture needle drive member 1332 abuts against the holding surface 194, it can drive the suture needle 190 to slide along the first needle groove 131. When the suture needle drive member 1332 slides along the guide surface 193, the suture needle drive member 1332 can pass over the guide surface 193 and disengage from the groove, thereby releasing the engagement between the suture needle drive member 1332 and the suture needle 190.

[0092] For example, in some embodiments, such as Figure 10 As shown, the first suture assembly 130 may further include an insert groove 138 and an insert 139 disposed in the insert groove 138. For example, the insert groove 138 may be disposed in the first main body portion 130A of the first suture assembly 130 and communicate with the first needle groove 131. For example, the suture needle 190 may also include a limiting groove 195 that cooperates with the insert 139. For example, the insert 139 in the insert groove 138 may cooperate with the limiting groove 195 of the suture needle 190, for example, abut against the limiting groove 195, to limit the suture needle 190 so that the suture needle 190 can only rotate in one direction.

[0093] For example, such as Figure 22 As shown, the suture needle 190 has two limiting grooves 195. One limiting groove 195 is located near the head end 190A of the suture needle 190 and is defined as the first limiting groove 1951. The other limiting groove 195 is located near the tail end 190B of the suture needle and is defined as the second limiting groove 1952.

[0094] For example, such as Figure 4AAs shown, the second needle groove 112, drive groove 115, drive rope 114, and drive unit (not shown) of the second suture assembly 110 are basically the same as those of the first suture assembly 130. For details, please refer to the relevant description of the first suture assembly 130; similarly, as... Figure 4B As shown, the third needle groove 122, drive groove 123, drive rope 124 and drive unit (not shown) of the third suture assembly 120 are basically the same as those of the first suture assembly 130. For details, please refer to the relevant description of the first suture assembly 130, which will not be repeated here.

[0095] For example, the second suture assembly 110 and the third suture assembly 120 also have corresponding insert slots and inserts disposed in the insert slots, and have essentially the same mating relationship and operating process as described above, so that the suture needle 190 can move unidirectionally along the puncture track 111 during puncture and unidirectionally along the knotting track 121 during knotting to achieve suturing. For the undescribed structures of the second suture assembly 110 and the third suture assembly 120, please refer to the embodiment of the first suture assembly 130 described above, which will not be repeated here.

[0096] The principle by which the suture needle 190 moves between the first suture assembly 130 and the second suture assembly 110 is the same as the principle by which the suture needle 190 moves between the first suture assembly 130 and the third suture assembly 120. The movement of the suture needle 190 will be explained below using the process of the suture needle 190 moving between the first suture assembly 130 and the second suture assembly 110, i.e., the puncture operation process, as an example.

[0097] During the puncture procedure, refer to Figure 10 When the suture needle 190 is located in the first needle groove 131, the suture needle drive member 1332 of the first suture assembly 130 cooperates with the first drive member 191. At this time, the insert 139 in the first needle groove 131 abuts against the first limiting groove 1951, so that the suture needle 190 can only move in the clockwise direction.

[0098] refer to Figure 18The suture needle drive member 1332 of the first suture assembly 130 drives the suture needle 190 from the first needle groove 131 to the second needle groove 112, so that the head end 190A of the suture needle 190 enters the second needle groove 112 first, while the tail end 190B of the suture needle 190 is still in the first needle groove 131. At this time, the suture needle drive member 1332 of the second suture assembly 110 cooperates with the second drive member 192. At this time, the insert 139 in the first needle groove 131 abuts against the second limiting groove 1952, and the suture needle drive member 1332 of the first suture assembly 130 can move counterclockwise to disengage from the first drive member 191. During this process, due to the action of the insert 139, the suture needle 190 will not move counterclockwise.

[0099] refer to Figure 19 When the suture needle drive member 1332 of the second suture assembly 110 drives the suture needle 190 to move until it is completely located in the second needle groove 131, the insert 139 of the second needle groove 131 abuts against the first limiting groove 1951. At this time, the suture needle drive member 1332 of the second suture assembly 110 can move counterclockwise to cooperate with the first drive member 191. During this process, due to the action of the insert 139, the suture needle 190 will not move counterclockwise.

[0100] refer to Figure 20 The suture needle drive member 1332 of the second suture assembly 110 drives the suture needle 190 to move until the head end 190A of the suture needle 190 first enters the first needle groove 131. When the tail end 190B of the suture needle 190 is still in the second needle groove 112, the suture needle drive member 1332 of the first suture assembly 130 cooperates with the second drive member 192 of the suture needle 190 to drive the suture needle 190 back completely into the first needle groove 131. At this time, the insert in the second needle groove 112 abuts against the second limiting groove 1952. The suture needle drive member 1332 of the second suture assembly 110 can move counterclockwise to disengage from the first drive member 191. During this process, due to the action of the insert 139, the suture needle 190 will not move counterclockwise.

[0101] refer to Figure 21 The suture needle drive member 1332 of the first suture assembly 130 drives the second drive member 192 of the suture needle 190 so that when the suture needle 190 completely returns from the second needle groove 112 to the first needle groove 131, the insert 139 in the first needle groove 131 abuts against the first limiting groove 1951. The suture needle drive member 1332 of the first suture assembly 130 can move counterclockwise to disengage from the second drive member 192 and engage with the first drive member 191. Due to the action of the insert 139, the suture needle 190 will not move counterclockwise.

[0102] The counterclockwise movement of the suture needle driving member 1332 of the driving unit of the first suture assembly can be driven by the first driving rope 134.

[0103] Thus, by setting the first driving component 191 and the second driving component 192 of the suture needle 190, a driving relay can be realized between the cooperating first suture assembly 130 and the second suture assembly 110 or the first suture assembly 130 and the third suture assembly 120, so that the suture needle 190 can complete the puncture operation or the knotting operation.

[0104] For example, to achieve rotatability of the first suture assembly 130, in some embodiments, such as Figure 6 As shown, the suture mechanism 100 also includes a rotating shaft 135, through which the first suture assembly 130 can be rotated. For example, the suture mechanism 110 also includes a switching drive motor M2 and a second drive rope 137; the second drive rope 137 is connected between the switching drive motor M2 and the first suture assembly 110, and is used to control the rotation of the first suture assembly 130. For example, in response to the switching drive motor M2 driving the second drive rope 135, the second drive rope 135 drives the first suture assembly 110 to switch between a first position and a second position.

[0105] For example, in some embodiments, the first suture assembly 110 is rotated in both directions (i.e., from the first position to the second position or from the second position to the first position) between the first and second positions by being pulled by the second drive rope 137. For example, in other embodiments, the first suture assembly 110 is also connected to a torsion spring. The first controlled rotation is driven by the second drive rope 137, and during this process, the torsion arm of the torsion spring deforms. The second controlled rotation occurs because the second drive rope 137 is released, causing the torsion spring to release energy and drive the first suture assembly 110 to rotate.

[0106] For example, the first suture assembly 130 is connected to the rotating shaft 135, and one end of the second drive rope 137 is wound around the first suture assembly 130; in response to the conversion drive motor M2 driving the second drive rope 137 to move, the second drive rope 137 drives the first suture assembly 130 to achieve controlled rotation.

[0107] For example, when the first suture assembly 110 is pulled in both rotational directions between the first position and the second position by the second drive rope 137, the suture mechanism 100 also includes a fastener 136, which is connected to the rotating shaft 135. The second drive rope 137 controls the fastener 136 to rotate, thereby driving the first suture assembly 130 to rotate.

[0108] For example, the second drive rope 137 is at least partially wound around the fastener 136. For example, in some examples, the fastener 136 and the first sewing assembly 130 are fixedly connected to the pivot 135, so that when the second drive rope 137 controls the fastener 136 to rotate, the pivot 135 also rotates, thereby causing the first sewing assembly 130 to rotate as well; or, in other examples, the fastener 136 and the first sewing assembly 130 are fixedly connected, and the fastener 136 and the first sewing assembly 130 are rotatably connected to the pivot 135. In this case, when the second drive rope 137 controls the fastener 136 to rotate, the fastener 136 drives the first sewing assembly 130 to rotate around the pivot 135. For example, the first sewing assembly 130 may also be connected to the pivot 135 in other ways, and the embodiments of this disclosure do not specifically limit this.

[0109] For example, in some examples, such as Figure 6 As shown, there can be two second drive ropes 137. One end of each second drive rope 137 (the end closest to the fastener 136) is wound and fixed to the fastener 136 in different directions (e.g., clockwise or counterclockwise). During operation, one of the two second drive ropes 137 can be pulled and the other released, driving the fastener 136 to rotate the rotatable sewing assembly. For example, in... Figure 6 In the example, pulling the upper second drive rope 137 and releasing the lower second drive rope 137 can drive the fastener 136 to rotate the rotatable sewing assembly clockwise; pulling the lower second drive rope 137 and releasing the upper second drive rope 137 can drive the fastener 136 to rotate the rotatable sewing assembly counterclockwise.

[0110] For example, the second drive rope 137 can be made of metal or alloy such as steel wire. The embodiments of this disclosure do not limit the specific form of the second drive rope 137.

[0111] For example, in some embodiments, such as Figure 6 As shown, in the first suture assembly 130, the arcuate ends 132A and 132B of the drive groove 132 are located on the rotating shaft 135. The first drive rope 134 is disposed along the drive groove 132 and extends from the arcuate ends 132A and 132B of the drive groove 132. For example, the drive groove 132 has opposing first ends 132A and second ends 132B, and the first drive rope 134 extends from the first ends 132A and second ends 132B. For example, the first drive rope 134 is fitted / bumped / slidably connected to the first ends 132A and second ends 132B to maintain tension at the first ends 132A and second ends 132B and to be able to slide relative to the drive groove 132.

[0112] For example, in other embodiments, the suturing mechanism 110 further includes an elastic element, such as a torsion spring or a spring, connected to the first suturing assembly 130, for example, between the first suturing assembly 130 and the first main frame B1; in response to the conversion drive motor M2 driving the second drive rope 137 to move in a first direction, and the second drive rope 137 driving the first suturing assembly 130 to rotate in a first rotation direction, the elastic element deforms to store energy, for example, the elastic element is compressed to store energy; in response to the conversion drive motor M2 driving the second drive rope 137 to move in a second direction, the elastic element releases energy (e.g., rebounds) to drive the rotatable suturing assembly to rotate in the second rotation direction; in response to the conversion drive motor M2 driving the second drive rope 137 to drive the first suturing assembly 110, and in response to the elastic element releasing energy to drive the first suturing assembly 110, the first suturing assembly 110 switches between a first position and a second position. The first direction and the second direction are opposite, and the first rotation direction and the second rotation direction are opposite.

[0113] For example, in some embodiments, the suturing mechanism 100 may further include a thread adjustment assembly connected to a first drive rope 134, configured to keep the first drive rope 134 in a tensioned state when the first suturing assembly 130, i.e., the rotatable suturing assembly, is rotated in a controlled manner (including the state during and after rotation).

[0114] In the embodiments of this disclosure, keeping the first drive rope 134 in a tensioned state can improve the driving accuracy and precision of the first drive rope 134, and prevent deviations in the driving process caused by the slack of the first drive rope 134, thereby improving the accuracy and safety of the sewing mechanism.

[0115] For example, such as Figure 6 As shown, the first drive rope 134 is composed of a first part 134X and a second part 134Y. The first part 134X is arranged along the drive groove 132. The line adjustment assembly is configured to compensate for the stroke of the first part 134X and / or the second part 134Y, so that the first drive rope 134 is in a tensioned state when the rotatable sewing assembly is rotated in a controlled manner.

[0116] For example, in some examples, reference Figure 8 The line adjustment assembly 140 can be connected to the two ends 134A and 134B of the first drive rope 134 and configured to drive the first drive rope 134 through the two ends 134A and 134B, for example, to stretch or release the first drive rope 134 according to the working state of the first drive rope 134 (e.g., when entering a puncture operation or when entering a knotting operation), so that the first drive rope 134 is in a tensioned state.

[0117] For example, in other examples, combining Figure 6 and Figure 7 The drive chute 132 has a first end 132A and a second end 132B opposite to each other. The line adjustment assembly includes a chute section disposed at at least at one of the first end 132A and the second end 132B. The extension state of the first drive rope 134 is adjusted by the lateral movement of the first drive rope 134 in the chute section, thereby keeping the first drive rope 134 in a taut state.

[0118] For example, in some examples, combining Figure 6 and Figure 7 The thread adjustment assembly includes a first slide section 1321 disposed at a first end 132A and / or a second slide section 1322 disposed at a second end 132B. The width of the first slide section 1321 is configured such that when the rotatable sewing assembly is rotated in a controlled manner, the first drive rope 134 moves in the width direction within the first slide section 1321 to keep the first drive rope 134 in a tensioned state. The width of the second slide section 1322 is configured such that when the rotatable sewing assembly is rotated in a controlled manner, the first drive rope 134 moves in the width direction within the second slide section 1322 to keep the first drive rope 134 in a tensioned state.

[0119] For example, such as Figure 7 As shown, the width of the first slide section 1321 is W1, that is, the width of the drive slide 132 along the axial direction of the rotating shaft 135 is W1, and the width of the second slide section 1322 is W2, that is, the width of the drive slide 132 along the axial direction of the rotating shaft 135 is W2. Figure 8 As shown, the diameter of the first drive rope 134 is D1, W1 > D1, W2 > D1, so that when the first suture assembly 130, that is, the rotatable suture assembly, is rotated in a controlled manner, the first drive rope 134 can move in the width direction in the first slide section 1321 and the second slide section 1322, thereby adjusting the extension state of the first drive rope 134 in the first slide section 1321 and the second slide section 1322, so that the first drive rope 134 is in a tensioned state.

[0120] For example, in some embodiments, 5 ≥ W1 / D1 ≥ 2, for example, W1 / D1 = 2, 3, 4 or 5; 5 ≥ W2 / D1 ≥ 2, for example, W2 / D1 = 2, 3, 4 or 5. Thus, the first drive rope 134 can have a large displacement in the width direction within the first slide section 1321 and the second slide section 1322 to adjust the extension state of the first drive rope 134, so that when the first sewing assembly 130, i.e., the rotatable sewing assembly, is rotated in a controlled manner, the first drive rope 134 is always kept taut through the adjustment of its extension state.

[0121] For example, in some examples, W1 = W2, so that the extension state of the first drive rope 134 in the first slide section 1321 and the second slide section 1322 is basically symmetrical, which helps to stabilize the drive.

[0122] For example, Figure 11 A schematic diagram is shown illustrating the tension state of the first drive rope in different states, such as... Figure 11 As shown, under the second control, that is, when the first needle groove 131 and the third needle groove 122 are opposite each other, and the first suture assembly 130 and the third suture assembly 120 cooperate to perform a knotting operation, the first drive rope 134 is in the second extended state 1342 in the first groove section 1321 and the second groove section 1322 of the drive groove 132. Under the first control, the first suture assembly 130 rotates, that is, when the first needle groove 131 and the second needle groove 112 are opposite each other, and the first suture assembly 130 and the second suture assembly 110 cooperate to perform a puncture operation, the first drive rope 134 moves along the width direction (that is, the horizontal direction in the figure) in the first groove section 1321 and the second groove section 1322, and the first drive rope 134 is in the first extended state 1341 in the first groove section 1321 and the second groove section 1322.

[0123] For example, when the first suture assembly 130 and the second suture assembly 110 cooperate to perform a puncture operation, the first suture assembly 130 flips downward, and the first drive rope 134 can be kept taut by moving laterally.

[0124] Thus, through the design of the wider first slide section 1321 and the second slide section 1322, when the first sewing assembly 130 is rotated under the first control, the first drive rope 134 can adaptively change its extension state by sliding in the first slide section 1321 and the second slide section 1322, thereby ensuring that the first drive rope 134 is always kept taut.

[0125] For example, when the first suture assembly 130 rotates, for instance, under first control to perform a puncture operation, its position changes due to the rotation. Consequently, the first drive rope 134 extends beyond the first groove segment 1321 and the second groove segment 1322. At this time, the first drive rope 134 moves along its width within the first and second groove segments 1321 and 1322, thus changing from a second extended state 1342 to a first extended state 1341. Figure 11 As shown, the excess length of the first drive rope 134 caused by the rotation of the first sewing assembly 130 is "eaten up", thereby preventing the tension of the first drive rope 134 from decreasing, realizing tension self-adjustment, and keeping the first drive rope 134 always taut.

[0126] In summary, in the suture structure provided by the embodiments of this disclosure, the first suture component is a rotatable suture component. By controlling the rotation of the rotatable suture component, it can cooperate with the second or third suture component to perform puncture or knotting operations. The suture mechanism has a simple structure and is easy to operate, making the suture process more efficient. Through the above-mentioned structural arrangement of the first, second, and third suture components, the first and second suture components or the first and third suture components can cooperate closely, making the driving process of the suture needle more accurate and smooth, so as to achieve the suture operation efficiently.

[0127] For example, embodiments of this disclosure also provide an operation method for a suturing mechanism. For instance, an exemplary operation process of the suturing mechanism 100 is as follows.

[0128] First, refer to Figure 1 A first control can be applied to the first suture assembly 130 to cause the first suture assembly 130 to rotate, such as... Figure 2 As shown, the first needle groove 131 and the second needle groove 112 are opposite each other. Then, the driving suture needle 190 slides from the first needle groove 131 to the second needle groove 112 and back to the first needle groove 131 to perform the puncture operation. At this time, refer to... Figure 5 The suture thread connected to the suture needle 190 punctures from the upper surface of the object T to the lower surface, and then from the lower surface of the object T to the upper surface, thus completing one puncture operation.

[0129] For example, after a puncture, a knotting operation is required to tie the suture thread, thereby completing one suture. For example, a second control is applied to the first suture assembly 130 to rotate the first suture assembly 130 so that the first needle groove 131 is aligned with the third needle groove 122. Then, the suture needle 190 is driven to slide from the first needle groove 131 to the third needle groove 122 and then back to the first needle groove 131 to perform the knotting operation.

[0130] For example, Figure 12 The diagram shows the process of the sewing mechanism performing the knotting operation, such as... Figure 12 As shown, one end of the suture 710 is fixed to the suture needle 190, for example, to the tail end 190B of the suture needle 190, and the other end of the suture 710 is fixed to the clamping mechanism 200, for example, to the fixed end 210 of the clamping mechanism 200. The initial position of the fixed end 210 of the clamping mechanism 200 is located on one side of the suture mechanism 110. Figure 12 The right side of the first suture assembly 130 and the third suture assembly 120 is shown in the figure, so as not to affect the puncture operation and the knotting operation.

[0131] For example, Figure 13Another process diagram of the knot-tying operation by the sewing mechanism is shown. Figure 14 for Figure 13 Simplified diagrams of the various structures in the diagram, such as Figure 13 and Figure 14 As shown, during the knotting operation, before the driving suture needle 190 slides from the first needle groove 131 of the first suture assembly 130 to the third needle groove 122 of the third suture assembly 120, the fixed end 210 of the driving clamping mechanism 200 moves from... Figure 12 The initial position is moved to above the plane where the second needle groove 112 and the third needle groove 122 are located, that is, above the first suture assembly 130 and the third suture assembly 120, so that the clamping mechanism 200 can lift the other end of the suture 710 and place it between the second suture assembly 110 and the third suture assembly 120, thereby facilitating the suture 710 to be wound to the accurate position to achieve knotting.

[0132] For example, during the knot-tying process, such as Figure 13 and Figure 14 As shown, a first take-up thread 501 rotatably connected to the first main frame B1 is provided at the entrance of the first needle groove 131. Before the suture needle 190 returns from the third needle groove 122 of the third suture assembly 120 to the first needle groove 131 of the first suture assembly 130, the first take-up thread 501 at the entrance of the first needle groove 131 is driven to rotate upward. This allows the first take-up thread 501 to lift the suture thread 710 at the entrance of the first needle groove 131, so that when the suture needle 190 returns from the entrance to the first needle groove 131, the suture needle 190 passes under the suture thread 710 at the entrance, so that the suture thread 710 advances along the knotting path to achieve knotting.

[0133] Figure 15 This diagram illustrates another step in the knot-tying process of the sewing mechanism. Figure 16 for Figure 15 Simplified diagrams of the various structures in the diagram, such as Figure 15 and Figure 16 As shown, when the suture needle 190 returns from the entrance to the first needle groove 131, the suture needle 190 passes under the suture 710 at the entrance. After the suture needle 190 returns to the first needle groove 131, the first take-up thread 501 is driven to rotate downward to untie the thread. That is, the first take-up thread 501 no longer contacts the suture 710 and no longer restricts the position of the suture 710. Then, a pulling force is applied to the two movable ends of the suture 710 to tighten it, thereby completing the knotting operation.

[0134] At least one embodiment of this disclosure also provides a surgical execution device, which includes the suturing mechanism 100 provided in the embodiments of this disclosure. For example, it may also include a clamping mechanism 200, a suture-taking mechanism, a suture-cutting structure (not shown), etc. The clamping mechanism 200 can at least be used to clamp the suture and place the suture in a predetermined position. The suture-taking mechanism includes, for example, the first suture-taking mechanism 501 mentioned above, and can at least be used to adjust the position of a portion of the suture for fine operations, such as knotting. The suture-cutting structure can at least be used to cut the suture after completing one suturing operation.

[0135] Therefore, this surgical execution device can independently achieve efficient, stable, and reliable suturing operations through the cooperation of the various mechanisms mentioned above. Furthermore, since the movements required by each mechanism, such as the suturing mechanism, clamping mechanism, and suture take-up mechanism, are relatively simple and do not require complex structural designs, the entire surgical execution device is more compact and more reliable in performing suturing operations.

[0136] At least one embodiment of this disclosure also provides a surgical robot, which includes a robotic arm and a surgical execution device mounted on the robotic arm, wherein the surgical execution device is the surgical execution device provided in the embodiments of this disclosure.

[0137] For example, Figure 17 This is a schematic diagram of the structure of a surgical robot provided in one embodiment of this disclosure. Figure 17 As shown, the surgical robot SR10 includes a robotic arm 800 and a surgical execution device 700 provided in any of the above examples, which is mounted on the robotic arm 800. Thus, the surgical robot possesses the technical effects corresponding to the beneficial effects of its included surgical execution device. For example, the surgical robot can also independently achieve efficient, stable, and reliable suturing operations. Furthermore, since the surgical execution device has advantages such as compact structure, high reliability, and high stability, the surgical robot also possesses advantages such as compact structure, high reliability, and high stability.

[0138] The following points also need to be explained:

[0139] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0140] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the present disclosure, i.e., these drawings are not drawn to actual scale. It will be understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0141] (3) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0142] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. The scope of protection of this disclosure shall be determined by the scope of the claims.

Claims

1. A suture mechanism, comprising a rotatable suture assembly, a thread adjustment assembly, and a suture needle, wherein, The rotatable suture assembly is controlled to rotate, and the rotatable suture assembly includes: The first needle groove is configured to accommodate the suture needle. The drive slide is configured to correspond to the first needle slide. The drive unit is slidably disposed in the drive groove and configured to drive the suture needle. A first drive rope, connected to the drive unit and disposed along the drive groove, is configured to control the drive unit to slide within the drive groove. The thread adjustment component is connected to the first drive rope and is configured to keep the first drive rope in a tensioned state when the rotatable sewing component is rotated in a controlled manner.

2. The suturing mechanism according to claim 1, wherein, The first drive rope consists of a first part and a second part, with the first part arranged along the drive groove; The thread adjustment assembly is configured to compensate for the travel of the first and / or second portions, such that the first drive rope is in a tensioned state when the rotatable sewing assembly is rotated in a controlled manner.

3. The suturing mechanism according to claim 1 or 2, wherein, The drive slide has a first end and a second end opposite to each other, and the line adjustment assembly includes a first slide section disposed at the first end and / or a second slide section disposed at the second end. The width of the first chute section is configured such that when the rotatable sewing assembly is rotated in a controlled manner, the first drive rope moves in the direction of the width in the first chute section so that the first drive rope is in a tensioned state. The width of the second chute section is configured such that when the rotatable sewing assembly is rotated in a controlled manner, the first drive rope moves in the direction of the width in the second chute section so that the first drive rope is in a tensioned state.

4. The suturing mechanism according to claim 3, wherein, The diameter of the first drive rope is D1; The width of the first chute section is W1, and 5 ≥ W1 / D1 ≥ 2; The width of the second chute section is W2, and 5≥W2 / D1≥2.

5. The sewing mechanism according to claim 1 further includes a rotating shaft, wherein, The drive slide has a first end and a second end opposite to each other, and the rotatable stitching assembly is connected to the rotating shaft, with the first end and the second end of the drive slide located on the rotating shaft. The first drive rope extends from the first end and the second end.

6. The suturing mechanism according to claim 1, wherein, It also includes a conversion drive motor and a second drive rope: the second drive rope is connected between the conversion drive motor and the rotatable sewing assembly; In response to the conversion drive motor driving the second drive rope to move, the rotatable sewing assembly rotates in a controlled manner.

7. The suturing mechanism according to claim 6, wherein, One end of the second drive rope is wrapped around the rotatable stitching assembly; In response to the conversion drive motor driving the second drive rope to move, the second drive rope drives the rotatable sewing assembly to achieve controlled rotation.

8. The suturing mechanism according to claim 6, wherein, The suturing mechanism further includes an elastic element; the elastic element is connected to the rotatable suturing assembly. In response to the conversion drive motor driving the second drive rope to move along a first direction, the second drive rope drives the rotatable sewing assembly to rotate along a first rotation direction, and the elastic element deforms to store energy. In response to the conversion drive motor driving the second drive rope to move in a second direction, the elastic element releases energy to drive the rotatable stitching assembly to rotate in the second rotation direction.

9. The suturing mechanism according to claim 1, wherein, The suturing mechanism also includes a suturing drive motor; The first drive rope is connected between the suture drive motor and the drive unit, and is configured to be driven by the suture drive motor to control the drive unit to slide in the drive groove to drive the suture needle.

10. The suturing mechanism according to claim 9, wherein, The driving unit includes a suture needle driving seat, a suture needle driving component, and a suture needle driving elastic element. The suture needle driving elastic element is disposed on the suture needle driving seat and connected to the suture needle driving component. The suture needle drive seat is slidably disposed in the drive groove, and the first drive rope is connected to the suture needle drive seat; The suture needle drive elastic element is configured to bias the suture needle drive member toward the suture needle.

11. The suturing mechanism according to claim 1, further comprising: The second suture assembly includes a second needle groove, and The third suture assembly includes a third needle groove. The rotatable suture assembly is configured to: be rotated under a first control so that the first needle groove is opposite to the second needle groove, thereby forming a suture track together; and be rotated under a second control so that the first needle groove is opposite to the third needle groove, thereby forming a knotting track together.

12. The suturing mechanism according to claim 11, wherein, The rotatable suture assembly is configured to, under the first control such that the first needle groove is opposite to the second needle groove, drive the suture needle to move along the suture track to slide from the first needle groove to the second needle groove and then back to the first needle groove to perform a puncture operation; When the first needle groove is aligned with the third needle groove under the second control, the suture needle is driven to move along the knotting track to slide from the first needle groove to the third needle groove and then back to the first needle groove to perform the knotting operation.

13. A surgical robot comprising a robotic arm and a suturing mechanism as described in any one of claims 1-12, wherein, The stitching mechanism is located on the robotic arm.

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