gripping drive assembly

Abstract

The application discloses a clamping driving assembly, which comprises a mounting shell, a suture seat, an arc-shaped suture needle, a rotating body, a mounting frame, a first clamping piece, a second clamping piece, a control piece and a driving assembly. The first clamping piece and the second clamping piece can directly clamp the arc-shaped suture needle by controlling the control piece, without needing to set a fixed-position notch clamping point on the arc-shaped suture needle, and without needing to have a precise clamping requirement. On the one hand, the operation difficulty of the product is reduced, the suturing process is simplified, and the suturing process is more efficient. On the other hand, the number of components for driving the arc-shaped suture needle to rotate is reduced, the probability of product failure is reduced, and thus the reliability of the product is greatly improved. In addition, the control piece controls the displacement movement of the first clamping piece along a straight line, the stability and consistency of the movement of the first clamping piece are more easily maintained, and the first clamping piece can quickly reach a specified position to perform a clamping operation.

Description

Technical Field

[0001] This application relates to the field of endoscopic suturing technology, and in particular to a clamping drive assembly. Background Technology

[0002] Currently, there are relatively few suture instruments for flexible endoscopy. Among them, the "C-shaped" arc-shaped suture needle suture instrument is noteworthy. This technology avoids the manual clamping and rotation of the arc-shaped suture needle during threading, achieving partial automation, which appears to be more efficient. However, this technology has a characteristic: the arc-shaped suture needle has fixed notch locking points. During the movement of the arc-shaped suture needle, the drive structure must be precisely positioned at the locking points to drive the arc-shaped suture needle; otherwise, the instrument will malfunction. Therefore, this places high demands on the manufacturing precision of the instrument and also carries the risk of malfunction in actual operation. Summary of the Invention

[0003] An embodiment of this application provides a clamping drive assembly, comprising: a mounting housing; a suture seat connected to the mounting housing, the suture seat having a suture groove and an arc-shaped suture hole surrounding the suture groove, the suture groove being configured to accommodate human tissue; an arc-shaped suture needle rotatably disposed within the arc-shaped suture hole; a rotating body disposed on the mounting housing and capable of rotating relative to the mounting housing; a mounting bracket, one end of which is connected to the rotating body, and the other end of which extends toward the suture seat; and a first clamping member. The device comprises: a first clamping member disposed on the mounting bracket and movable relative to the mounting bracket, the first clamping member pressing against the arc-shaped suture needle; a second clamping member disposed on the mounting bracket and symmetrically arranged on both sides of the arc-shaped suture needle with respect to the first clamping member, the second clamping member pressing against the arc-shaped suture needle; a control member connected to the first clamping member and configured to control the movement of the first clamping member relative to the mounting bracket; and a drive assembly connected to the rotating body and configured to control the rotating body to rotate relative to the mounting housing.

[0004] In some embodiments, the first clamping member is provided with a first thread, and the first clamping member is screwed to the mounting bracket via the first thread; the control member is configured to rotate the first clamping member relative to the mounting bracket so that the first clamping member moves relative to the mounting bracket toward the arcuate suture needle.

[0005] In some embodiments, the mounting bracket is provided with a second thread, and the first clamping member is screwed to the mounting bracket via the first thread and the second thread.

[0006] In some embodiments, the mounting bracket includes a frame and a connector, the connector being provided with a second thread, and the first clamping member and the mounting bracket being screwed together by the first thread and the second thread.

[0007] In some embodiments, the control element includes a rotary motor mounted on a mounting bracket, and the output shaft of the rotary motor is connected to the first clamping element; or the control element includes a rotary flexible shaft.

[0008] In some embodiments, the control element includes a telescopic device disposed on a mounting bracket.

[0009] In some embodiments, the arcuate suture needle has two symmetrical mating planes, which are configured to mate with the first clamping member and the second clamping member, respectively.

[0010] In some embodiments, the arc-shaped suture needle has an opposing puncture end and a suture connection segment; the distance between the two mating planes gradually increases in the direction from the suture connection segment to the puncture end.

[0011] In some embodiments, an anti-slip structure is provided on the mating plane.

[0012] In some embodiments, the end of the first clamping member that contacts the arc-shaped suture needle is provided with an anti-slip structure; and / or the end of the second clamping member that contacts the arc-shaped suture needle is provided with an anti-slip structure.

[0013] In some embodiments, the anti-slip structure is an elastic element, an anti-slip rough layer, a protrusion, or a groove.

[0014] In some embodiments, the driving assembly includes: a plurality of first magnetic elements disposed on the rotating body and arranged sequentially along the circumference of the rotating body; and a first conductor coil disposed within the mounting housing and located on one side of the rotating body, wherein the position of the first conductor coil corresponds to the position of the first magnetic elements.

[0015] In some embodiments, the rotating body is a rotating ring; the driving assembly includes: a fixed ring disposed within the mounting housing; a plurality of second conductive coils fixed to the outer surface of the fixed ring; and a plurality of second magnetic elements fixed to the inner surface of the rotating ring and arranged sequentially along the circumference of the rotating ring, wherein the second magnetic elements are arranged corresponding to the second conductive coils.

[0016] In some embodiments, the drive assembly includes: a transmission gear disposed on the rotating body and arranged circumferentially along the rotating body; a first gear disposed within the mounting housing and meshing with the transmission gear; and a drive member connected to the first gear and configured to drive the first gear to rotate.

[0017] In some embodiments, the driving component includes a drive motor mounted on a mounting housing, and the output shaft of the drive motor is connected to the first gear; or the driving component includes a rotating flexible shaft; or the first gear is a bevel gear, the rotation axis of which is perpendicular to the rotation axis of the rotating body; the driving component includes a second gear fixedly connected to the bevel gear, and the second gear and the bevel gear are coaxial; a transmission rack meshing with the second gear; and a second control cable connected to the transmission rack.

[0018] In some embodiments, the mounting housing includes a first connecting portion, a mounting portion, and a second connecting portion connected in sequence; the first connecting portion is configured to cooperate with an endoscope; the second connecting portion is connected to the suture seat; and the rotating body is disposed on the outer surface of the mounting portion.

[0019] In some embodiments, the other end of the mounting bracket is provided with a clamping space, the second clamping member is located within the clamping space, and at least a portion of the stitching seat is located within the clamping space.

[0020] In some embodiments, the mounting bracket includes: a frame body, one end of which is connected to the rotating body, and the first clamping member extending from the other end of the frame body; and a fixing bracket disposed on the other end of the frame body, the fixing bracket having a mounting surface corresponding to the other end of the frame body, the clamping space being located between the end face of the other end of the frame body and the mounting surface, and the second clamping member being disposed on the mounting surface.

[0021] In some embodiments, the mounting housing is provided with clearance space that mates with the mounting bracket.

[0022] Compared with existing technologies, the above technical solution has the following advantages:

[0023] By controlling the first and second clamping components, the curved suture needle can be directly clamped without the need for fixed notch points on the needle. This eliminates the requirement for precise positioning, reducing operational complexity and simplifying the suturing process. This makes the suturing process more efficient, effectively shortening the overall surgical time and reducing surgical risks, which is especially important for patients with critical conditions who cannot tolerate prolonged surgery. Furthermore, it reduces the number of components driving the curved suture needle's rotation, thus reducing product complexity and the probability of malfunction, significantly improving product reliability. In addition, the control unit controls the displacement of the first clamping member along a straight line. On the one hand, compared with curved or complex trajectory movements, it is easier to maintain the stability and consistency of the movement of the first clamping member, thereby ensuring the stable clamping of the arc-shaped suture needle by the first and second clamping members. On the other hand, linear movement is the shortest path between two points, and the first clamping member can quickly reach the designated position to perform the clamping operation. Moreover, the linear movement method is relatively simple and direct, without the need for complex operations to control the movement of the first clamping member. This simple operation method reduces the difficulty of the surgical operation, allowing the operator to focus more on the key steps of suturing. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a first embodiment of the clamping drive assembly provided in some embodiments of this application;

[0026] Figure 2 for Figure 1 The diagram shows an exploded view of the clamping drive assembly.

[0027] Figure 3 for Figure 1 A partial structural diagram of the clamping drive assembly shown;

[0028] Figure 4 yes Figure 3 A schematic diagram of the structure in which the rotating body mates with the mounting bracket;

[0029] Figure 5 for Figure 4 A cross-sectional view of the structure shown.

[0030] Figure 6 yes Figure 3 A schematic diagram of the structure of the first clamping member shown in the figure;

[0031] Figure 7 yes Figure 3 A schematic diagram of the arc-shaped suture needle shown in the image;

[0032] Figure 8 for Figure 3 A partial cross-sectional view of the structure shown.

[0033] Figure 9 for Figure 1 A partial cross-sectional view of the clamping drive assembly shown.

[0034] Figure 10 for Figure 9 Enlarged structural diagram of section A in the middle;

[0035] Figure 11 for Figure 10 A schematic diagram of the structure in another state;

[0036] Figure 12 for Figure 1 A partial cross-sectional view of the clamping drive assembly from another perspective;

[0037] Figure 13 for Figure 1 A partial structural diagram of the mounting shell;

[0038] Figure 14 This is a schematic diagram of the structure of a second embodiment of the clamping drive assembly provided in some embodiments of this application;

[0039] Figure 15 for Figure 14 The diagram shows an exploded view of the clamping drive assembly.

[0040] Figure 16 for Figure 14 A partial structural diagram of the clamping drive assembly shown;

[0041] Figure 17 for Figure 16 A partial cross-sectional view of the structure shown.

[0042] Figure 18 for Figure 14 A partial cross-sectional view of the clamping drive assembly from another perspective;

[0043] Figure 19 This is a schematic diagram of the structure of the mounting shell provided in some embodiments of this application;

[0044] Figure 20 This is a partial structural diagram of a third embodiment of the clamping drive assembly provided in some embodiments of this application;

[0045] Figure 21 This is a partial structural diagram of a fourth embodiment of the clamping drive assembly provided in some embodiments of this application.

[0046] The attached figures are labeled as follows:

[0047] 10. Mounting housing; 11. First connecting part; 12. Mounting part; 13. Second connecting part; 14. Clearance space; 15. Limiting structure;

[0048] 20. Suture seat; 21. Suture groove; 22. Arc-shaped suture hole;

[0049] 30. Curved suture needle; 31. Mating plane; 32. Puncture end; 33. Suture connection segment;

[0050] 40. Solids of revolution;

[0051] 50. Mounting bracket; 51. Frame body; 52. Connector; 53. Clamping space; 54. Fixing bracket;

[0052] 61. First clamping component; 62. Second clamping component; 70. Control component; 71. Rotary motor;

[0053] 80. Drive assembly; 81. Fixing ring; 82. Second conductor coil; 83. Second magnetic component; 84. Transmission gear; 85. First gear; 86. Drive component; 861. Second gear; 862. Transmission rack; 863. Second control cable; 87. First magnetic component; 88. First conductor coil; 90. Sleeve; 100. Endoscope. Detailed Implementation

[0054] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. Through these descriptions, the features and advantages of the present application will become clearer and more apparent.

[0055] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and the foregoing description of this application are intended to cover non-exclusive inclusion.

[0056] The term "embodiment" as used in this application means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0057] The specific term "exemplary" used in this application means "serving as an example, embodiment, or illustration." Any embodiment illustrated as "exemplary" is not necessarily to be construed as superior or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0058] In the description of this application, the technical terms "first", "second", "third", etc. are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0059] In the description of this application, the technical term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0060] In the description of this application, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In the description of this application, "multiple" means two or more (including two), unless otherwise expressly and specifically defined.

[0062] In the description of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, and other dimensions of various components in the embodiments of this application shown in the drawings, as well as the overall thickness, length, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0063] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings. The technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0064] like Figures 1 to 20As shown, the clamping drive assembly 80 provided in this application includes: a mounting shell 10, a suture seat 20, an arc-shaped suture needle 30, a rotating body 40, a mounting bracket 50, a first clamping member 61, a second clamping member 62, a control member 70, and a drive assembly 80.

[0065] The suture seat 20 is connected to the mounting shell 10. The suture seat 20 is provided with a suture groove 21 and an arc-shaped suture hole 22 surrounding the suture groove 21. The suture groove 21 is configured to accommodate human tissue.

[0066] The arc-shaped suture needle 30 is rotatably disposed within the arc-shaped suture hole 22.

[0067] The rotating body 40 is mounted on the mounting housing 10 and is able to rotate relative to the mounting housing 10.

[0068] One end of the mounting bracket 50 is connected to the rotating body 40, and the other end of the mounting bracket 50 extends toward the sewing seat 20.

[0069] The first clamping member 61 is disposed on the mounting frame 50 and is movable relative to the mounting frame 50. The first clamping member 61 can press against the arc-shaped suture needle 30.

[0070] The second clamping member 62 is disposed on the mounting frame 50 and is symmetrically disposed on both sides of the arc-shaped suture needle 30 with the first clamping member 61. The second clamping member 62 can press against the arc-shaped suture needle 30. Specifically, a clamping space 53 is provided at the other end of the mounting frame 50, and the second clamping member 62 is located in the clamping space 53. At least part of the suture seat 20 is located in the clamping space 53.

[0071] The control element 70 is connected to the first clamping element 61 and is configured to control the movement of the first clamping element 61 relative to the mounting bracket 50.

[0072] The drive assembly 80 is connected to the rotating body 40 and is configured to control the rotation of the rotating body 40 relative to the mounting housing 10.

[0073] The clamping drive assembly 80 provided in this application, such as Figures 9 to 11As shown, the operator controls the first clamping member 61 to move relative to the mounting frame 50 via the control component 70, so that the distance between the first clamping member 61 and the second clamping member 62 decreases until the first clamping member 61 and the second clamping member 62 jointly clamp the arc-shaped suture needle 30. Then, the operator controls the rotating body 40 to rotate relative to the mounting shell 10 via the drive component 80. The rotating body 40 drives the mounting frame 50 to rotate relative to the mounting shell 10. The mounting frame 50 drives the arc-shaped suture needle 30 to rotate relative to the mounting shell 10 along the first direction via the first clamping member 61 and the second clamping member 62, so that the arc-shaped suture needle 30 rotates relative to the mounting shell 10, allowing the arc-shaped suture needle 30 to pass through human tissue. After the mounting frame 50 reaches its final position, the control unit 70 controls the first clamping member 61 to move in the opposite direction relative to the mounting frame 50, so that the first clamping member 61 and the second clamping member 62 separate from the arc-shaped suture needle 30. The operator controls the rotating body 40 to rotate relative to the mounting shell 10 through the drive component 80. The rotating body 40 drives the mounting frame 50 to rotate relative to the mounting shell 10 along the second direction, so that the mounting frame 50 returns to its initial position. The above operation is repeated at least once, so that the arc-shaped suture needle 30 rotates one revolution relative to the mounting shell 10, so that the arc-shaped suture needle 30 passes through the human tissue. This process is repeated so that the arc-shaped suture needle 30 rotates one revolution relative to the mounting shell 10 multiple times to complete the suturing of the human tissue. The above structure for controlling the rotation of the arc-shaped suture needle 30 relative to the suture seat 20 does not require a fixed notch or locking point on the arc-shaped suture needle 30, and there is no requirement for precise locking. On the one hand, it reduces the difficulty of product operation, simplifies the suturing process, and makes the suturing process more efficient. On the other hand, the number of components driving the arc-shaped suture needle 30 to rotate and the manufacturing precision requirements are reduced, which reduces the complexity of the product and lowers the probability of product failure, thereby greatly improving the reliability of the product.

[0074] In addition, the control unit 70 controls the displacement movement (linear movement) of the first clamping member 61 along a straight line. On the one hand, compared with curved or complex trajectory movements, it is easier to maintain the stability and consistency of the movement of the first clamping member 61, thereby ensuring the stable clamping of the arc-shaped suture needle 30 by the first clamping member 61 and the second clamping member 62. On the other hand, linear movement is the shortest path between two points, and the first clamping member 61 can quickly reach the designated position to perform the clamping operation. Moreover, the linear movement method is relatively simple and direct, without the need for complex operations to control the movement of the first clamping member 61.

[0075] Furthermore, the first clamping member 61 and the second clamping member 62 can be fixed at any position on the arc-shaped suture needle 30, thereby driving the arc-shaped suture needle 30 to rotate at any angle. This greatly reduces the precision requirements of the fit between the first clamping member 61 and the second clamping member 62 and the arc-shaped suture needle 30. This avoids the device failure caused by insufficient fit between the first clamping member 61 and the second clamping member 62 and the arc-shaped suture needle 30. When the arc-shaped suture needle 30 is obstructed when piercing harder human tissue or when the rotation stroke is insufficient, the first clamping member 61 and the second clamping member 62 can adjust the fixed position point in time to provide sufficient piercing force and rotation stroke for the arc-shaped suture needle 30, so as to achieve suturing of human tissue and improve the efficiency and reliability of surgical operation.

[0076] like Figures 3 to 11 , Figure 16 and Figure 17 As shown, in one embodiment of this application, the first clamping member 61 is provided with a first thread, and the first clamping member 61 and the mounting bracket 50 are screwed together by the first thread, that is, the first clamping member 61 and the mounting bracket 50 are screwed together.

[0077] The control element 70 is configured to rotate the first clamp 61 relative to the mounting bracket 50 so that the first clamp 61 moves relative to the mounting bracket 50 toward the arcuate suture needle 30.

[0078] The thread pitch determines the precise conversion between rotational and linear motion. With each specific rotation angle, the first clamping member 61 produces a precise linear displacement, a characteristic that results in extremely high positioning accuracy. Furthermore, the threaded connection provides stable transmission, preventing the first clamping member 61 from wobbling or shifting during movement, thus firmly clamping the curved suture needle 30. Additionally, the threaded connection exhibits a self-locking property, ensuring the first clamping member 61 remains securely in a specific position.

[0079] In one specific embodiment of this application, the mounting bracket is provided with a second thread, and the first clamping member is screwed to the mounting bracket via the first thread and the second thread. That is, the thread is directly machined on the mounting bracket, so that the thread and the mounting bracket form an integral structure. This integrated design ensures a tighter connection between the thread and the mounting bracket when subjected to external forces, making it less prone to loosening or displacement.

[0080] like Figures 3 to 5 As shown, in another specific embodiment of this application, the mounting bracket 50 includes a frame 51 and a connector 52. The connector 52 is provided with a second thread, and the first clamping member 61 is screwed to the mounting bracket 50 through the first thread and the second thread.

[0081] The mounting bracket 50 is quickly assembled using threaded connectors 52, which facilitates the modular design of the mounting bracket 50 and makes product processing easier.

[0082] like Figures 8 to 11 As shown, in one embodiment of this application, the control element 70 includes a rotary motor 71, such as a cup motor. This type of motor has a small outer diameter, making it suitable for use inside the mounting bracket 50 where installation space is limited. The selection of the rotary motor 71 depends on a combination of factors, including manufacturing process, motor size suitable for the application scenario, and required driving force.

[0083] The rotary motor 71 is mounted on the mounting bracket 50, and the output shaft of the rotary motor 71 is connected to the first clamping member 61.

[0084] The rotary motor 71 can precisely control the rotation angle, and in conjunction with the precise pitch of the thread, it can achieve higher precision positioning of the linear motion of the first clamping member 61, making the linear motion of the first clamping member 61 more refined. The rotary motor 71 responds quickly to control signals, and can quickly start, stop, and change the direction of rotation. This allows the first clamping member 61 to quickly start or stop linear motion, and to quickly adjust the speed and direction of motion according to actual needs, making the sewing process more efficient. In addition, the rotary motor 71 is installed inside the mounting bracket 50, and the external wire is connected to the operating handle. Both rotate together relative to the sewing seat 20. Because the wire is flexible and adaptable, it will not interfere with the rotation; otherwise, it would cause some interference.

[0085] In one embodiment of this application, the control element includes a rotary flexible shaft.

[0086] The flexible rotating shaft can bend to a certain extent, adapting to the complex spatial structure of a product. When the internal space of the equipment is compact and the shape is irregular, the flexible rotating shaft can bypass obstacles, transmit power to the required position, and drive the first clamping component to rotate. In addition, the flexible rotating shaft has a simple structure.

[0087] In one embodiment of this application, the control element includes a telescopic device, which is mounted on a mounting bracket.

[0088] The telescopic device precisely controls the extension and retraction length of the first clamping element, achieving high-precision positioning of its linear movement. Furthermore, the telescopic device operates smoothly, providing stable linear movement for the first clamping element, facilitating fine-tuning by the surgeon. Additionally, the rapid response of the telescopic device enables the first clamping element to quickly extend and grasp the curved suture needle, matching the operator's rhythm, improving overall surgical efficiency, and reducing the patient's anesthesia and trauma exposure time.

[0089] like Figure 7As shown, in one embodiment of this application, the arc-shaped suture needle 30 has a puncture end 32 and a suture connection section 33 disposed opposite to each other.

[0090] In the direction from the suture connection segment 33 to the puncture end 32, the distance between the two mating planes 31 gradually increases, that is, the mating plane 31 is an inclined plane.

[0091] During the movement of the arc-shaped suture needle 30 driven by the first clamping member 61 and the second clamping member 62, if the first clamping member 61 and the second clamping member 62 do not firmly clamp the arc-shaped suture needle 30, the first clamping member 61 and the second clamping member 62 will slide relative to each other. As the distance between the two mating planes 31 gradually increases, the force between the first clamping member 61 and the second clamping member 62 and the arc-shaped suture needle 30 gradually increases with the movement of the first clamping member 61 and the second clamping member 62, increasing the friction force, so that the clamping force of the first clamping member 61 and the second clamping member 62 on the arc-shaped suture needle 30 is more stable.

[0092] In one embodiment of this application, the end of the first clamping member that contacts the curved suture needle is provided with an anti-slip structure. And / or the end of the second clamping member that contacts the curved suture needle is provided with an anti-slip structure. In one specific embodiment of this application, if the surface of the curved suture needle is smooth, the anti-slip structure is an elastic element or an anti-slip rough layer. In another specific embodiment of this application, if the curved suture needle has a special structure or shape, a matching clamping component can be designed, such as a curved clamping block with grooves, protrusions, etc., to improve the stability and reliability of clamping and prevent slippage.

[0093] In one embodiment of this application, the first clamping member is provided with an anti-slip structure, and at the same time, the mating plane of the arc-shaped suture needle is provided with a corresponding anti-slip structure. The corresponding anti-slip structure includes, but is not limited to, one or more recesses, one or more protrusions, and a wave-like surface structure. The anti-slip structure of the first clamping member and the anti-slip structure of the suture needle interfere with each other to increase frictional resistance.

[0094] In one embodiment of this application, the second clamping member is provided with an anti-slip structure, and at the same time, the mating plane of the arc-shaped suture needle is provided with a corresponding anti-slip structure. The corresponding anti-slip structure includes, but is not limited to, one or more recesses, one or more protrusions, and a wave-like surface structure. The anti-slip structure of the second clamping member and the anti-slip structure of the suture needle interfere with each other to increase frictional resistance.

[0095] During surgery, stable clamping of the curved suture needle is crucial. The anti-slip structure effectively increases the friction between the first and second clamping components and the curved suture needle, preventing it from slipping out due to accidental vibration, shaking, or changes in the operating angle. Furthermore, during prolonged surgical procedures, the first and second clamping components need to continuously and stably clamp the curved suture needle. The anti-slip structure maintains sufficient friction, preventing the first clamping component from loosening due to fatigue or pressure changes during extended use, ensuring the curved suture needle remains reliably clamped and guaranteeing the continuity of the suturing operation. Simultaneously, the operator's precise manipulation of the curved suture needle depends on the stable and accurate control of the curved suture needle by the first and second clamping components.

[0096] like Figures 1 to 19 As shown, in one embodiment of this application, the mounting housing 10 is provided with a clearance space 14 that cooperates with the mounting bracket 50.

[0097] The mounting bracket 50 can move within the clearance space 14 to ensure an unobstructed movement path for the mounting bracket 50, thereby making the movement of the mounting bracket 50 smoother.

[0098] like Figures 3 to 11 As shown, in one embodiment of this application, the mounting bracket 50 includes a frame 51 and a fixing bracket 54.

[0099] One end of the frame 51 is connected to the rotating body 40, and the first clamping member 61 can extend from the other end of the frame 51.

[0100] A fixing frame 54 is disposed on the other end of the frame body 51, and a mounting surface is provided on the fixing frame 54, which is correspondingly disposed on the other end of the frame body 51. The clamping space 53 is located between the end face of the other end of the frame body 51 and the mounting surface, and the second clamping member 62 is disposed on the mounting surface. The fixing frame 54, the frame body 51, and the second clamping member 62 can be an integral structure manufactured by an integral molding process. In some embodiments, the frame body 51 is provided with the clamping space 53, and the second clamping member 62 is a protrusion.

[0101] The combination structure of the frame 51 and the fixation frame 54 is relatively flexible and can be optimized according to the product structure and surgical operating space. Within a limited space, the mounting frame 50 can be rationally arranged, ensuring effective clamping of the suture needle without interfering with the operation of other instruments. For example, the frame 51 can be designed in a compact shape, and the position of the fixation frame 54 can be adjusted to adapt to the space requirements of different product models.

[0102] like Figure 19 As shown, in one embodiment of this application, the mounting shell 10 includes a first connecting part 11, a mounting part 12, and a second connecting part 13 connected in sequence.

[0103] The first connecting part 11 is configured to cooperate with the endoscope 100.

[0104] The second connecting part 13 is connected to the suture seat 20.

[0105] The rotating body 40 is disposed on the outer surface of the mounting part 12.

[0106] The above structure makes full use of the space on the mounting shell 10, improving the space utilization of the product and making the product more compact.

[0107] In one embodiment of this application, the clamping drive assembly 80 further includes a sleeve 90.

[0108] The cannula 90 is located at the other end of the mounting housing 10 and extends into the mounting housing 10. The outlet of the cannula 90 is located inside the mounting housing 10 and is positioned toward the suture groove 21. The cannula 90 is configured to mate with the endoscope 100.

[0109] The rotating body 40 is disposed on the outer surface of the sleeve 90 and is capable of rotating relative to the sleeve 90 in the circumferential direction. Specifically, the axis of the channel of the sleeve 90 and the axis of rotation of the rotating body 40 are parallel to the axis of rotation of the arc-shaped suture needle 30.

[0110] The sleeve 90 provides a mounting position for the rotating body 40, so that the rotating body 40 is located in the internal space of the mounting shell 10. This makes reasonable use of the internal space of the mounting shell 10, making the product more compact and meeting the design requirements of miniaturization and lightweighting of equipment.

[0111] like Figure 13 As shown, in one embodiment of this application, the clamping drive assembly 80 further includes a limiting structure 15.

[0112] The limiting structure 15 is fixed inside the mounting shell 10 and located on the rotation path of the mounting bracket 50, and the limiting structure 15 can interfere with the mounting bracket 50.

[0113] The limiting structure 15 restricts the rotation angle of the arc-shaped rack by adjusting the rotation angle of the mounting bracket 50, thereby preventing mechanical damage caused by excessive rotation of the rotating body 40, extending the service life of the equipment, and reducing equipment maintenance costs.

[0114] Several embodiments of the driving component 80 shown in this application are described in detail below.

[0115] Example 1

[0116] like Figures 1 to 12 As shown, in one embodiment of this application, the drive assembly 80 includes: a transmission gear 84, a first gear 85, and a drive member 86.

[0117] The transmission gear 84 is disposed on the rotating body 40 and is arranged along the circumference of the rotating body 40.

[0118] The first gear 85 is disposed inside the mounting housing 10 and meshes with the transmission gear 84.

[0119] The drive unit 86 is connected to the first gear 85 and is configured to drive the first gear 85 to rotate.

[0120] The drive assembly 80 uses gear transmission to drive the rotating body 40 to rotate. On the one hand, gear transmission has low energy loss and high transmission efficiency during power transmission, which can more effectively drive the mounting bracket 50 and the arc-shaped sewing needle 30. On the other hand, the gear transmission structure is more compact and occupies less space, making the product more compact and facilitating the miniaturization and lightweight design of the clamping drive assembly.

[0121] like Figures 1 to 12 As shown, in one specific embodiment of this application, the driving component 86 includes a driving motor, which is mounted on the mounting housing 10, and the output shaft of the driving motor is connected to the first gear 85. The driving component 86 can be a cup motor, which has a very small outer diameter and is suitable for use in devices with limited installation space. The selection of the driving motor depends on a combination of factors, including manufacturing process, motor size suitable for the application scenario, and required driving force.

[0122] The drive motor is connected to the first gear 85 to drive its rotation. The drive motor drives the first gear 85 without operator intervention, reducing the lengthy learning process and allowing for faster familiarization and mastery. Furthermore, the driving force of the drive motor can be preset, unaffected by operator input. During puncture, the puncture force can be precisely adjusted via the motor according to the thickness and hardness of the tissue being punctured.

[0123] In another specific embodiment of this application, the driving element includes a rotary flexible shaft.

[0124] The rotating component and the first gear. The rigidity and strength of the rotating component itself ensure that it will not easily deform or break during rotation, thus ensuring the stability of power transmission and enabling continuous and stable power transmission to the first gear. In addition, the rotating component can achieve precise rotational motion transmission. The operator can manipulate the rotating component to finely adjust the angle and direction of the suture needle, ensuring that the curved suture needle accurately passes through the tissue.

[0125] like Figure 20 As shown, in another specific embodiment of this application, the first gear 85 is a bevel gear, and the rotation axis of the bevel gear is perpendicular to the rotation axis of the rotating body.

[0126] The drive unit 86 includes a second gear 861, a transmission rack 862, and a second control cable 863.

[0127] The second gear 861 is fixedly connected to the bevel gear, and the second gear 861 and the bevel gear are coaxial.

[0128] The transmission rack 862 meshes with the second gear 861.

[0129] The second control cable 863 is connected to the transmission rack 862.

[0130] The combination of bevel gears and rotating bodies has a relatively compact structure that occupies less space. This compact structure not only facilitates the miniaturization of the equipment but also makes it easier to operate in confined spaces inside the human body.

[0131] Furthermore, the close meshing between the bevel gear and the transmission teeth on the rotating body ensures stable power transmission. During power transmission, the friction between them is relatively low, resulting in minimal power loss and thus high transmission efficiency. In suturing operations, stable power transmission ensures that the gear rack rotates at the expected speed and direction, allowing the suture needle to perform precise puncture and suturing actions, improving the quality and efficiency of suturing.

[0132] Example 2

[0133] like Figures 14 to 18 As shown, in one embodiment of this application, the rotating body 40 is a rotating ring.

[0134] The drive assembly 80 includes a retaining ring 81 and a plurality of second magnetic elements 83.

[0135] The retaining ring 81 is set inside the mounting shell 10.

[0136] Multiple second conductor coils 82 are fixed on the outer surface of the fixed ring 81. Multiple second magnetic elements 83 are fixed on the inner surface of the rotating ring and arranged sequentially along the circumference of the rotating ring. The second magnetic elements 83 are arranged corresponding to the second conductor coils 82.

[0137] The fixed ring 81 and multiple second conductor coils 82 form the stator, and the rotating ring and multiple second magnetic components 83 form the rotor. The above configuration is similar to the drive assembly 80 of a brushless hollow motor. The structure of the drive assembly 80 is relatively simple, mainly composed of two parts: the stator and the mover. There is no complex transmission mechanism, which makes the drive assembly 80 more compact and provides convenience for the miniaturization and lightweight design of the clamping drive assembly 80.

[0138] Example 3

[0139] like Figure 21As shown, the drive assembly 80 includes a plurality of first magnetic elements 87 and a first conductive coil 88. The plurality of first magnetic elements 87 are disposed on the rotating body 40 and arranged sequentially along the circumference of the rotating body 40. The first conductive coil 88 is disposed inside the mounting housing 10 and located on one side of the rotating body 40, and the position of the first conductive coil 88 corresponds to the position of the first magnetic elements 87.

[0140] The rotating body 40, multiple first magnetic components 87, and first conductor coil 88 constitute a drive assembly 80 similar to a linear motor. The rotating body 40 and multiple first magnetic components 87 form the primary stage, and the first conductor coil 88 is the secondary stage. On the one hand, the structure of the drive assembly 80 is relatively simple, mainly composed of a stator and a mover, without a complex transmission mechanism, making the drive assembly 80 more compact and facilitating the miniaturization and lightweight design of the clamping drive assembly 80. On the other hand, the drive assembly 80 has fewer intermediate transmission components, reducing mechanical wear points, thereby lowering equipment maintenance costs and downtime, and improving equipment reliability and service life.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A clamping drive assembly, characterized in that, The clamping drive assembly includes: Mounting housing; A suture seat is connected to the mounting shell. The suture seat is provided with a suture groove and an arc-shaped suture hole surrounding the suture groove. The suture groove is configured to accommodate human tissue. An arc-shaped suture needle, which is rotatably disposed within the arc-shaped suture hole; A rotating body, which is disposed on the mounting housing and is capable of rotating relative to the mounting housing; Mounting bracket, one end of which is connected to the rotating body, and the other end of which extends toward the stitching seat; A first clamping member is disposed on the mounting frame and is movable relative to the mounting frame. The first clamping member is capable of pressing against the arc-shaped suture needle. The second clamping member is disposed on the mounting bracket and symmetrically disposed on both sides of the arc-shaped suture needle with the first clamping member. The second clamping member can press against the arc-shaped suture needle. A control element, connected to the first clamping member, configured to control movement of the first clamping member relative to the mounting bracket; and A drive assembly connected to the rotating body, the drive assembly being configured to control the rotation of the rotating body relative to the mounting housing.

2. The clamping drive assembly according to claim 1, characterized in that, The first clamping member is provided with a first thread, and the first clamping member and the mounting bracket are screwed together by the first thread; The control element is configured to rotate the first clamp relative to the mounting bracket, thereby moving the first clamp relative to the mounting bracket toward the arcuate suture needle.

3. The clamping drive assembly according to claim 2, characterized in that, The mounting bracket is provided with a second thread, and the first clamping member is screwed to the mounting bracket through the first thread and the second thread.

4. The clamping drive assembly according to claim 2, characterized in that, The mounting bracket includes a frame and a connector. The connector is provided with a second thread, and the first clamping member is screwed to the mounting bracket through the first thread and the second thread.

5. The clamping drive assembly according to claim 2, characterized in that, The control component includes a rotary motor, which is mounted on a mounting bracket, and the output shaft of the rotary motor is connected to the first clamping member; or The control component includes a rotary flexible shaft.

6. The clamping drive assembly according to claim 1, characterized in that, The control component includes a telescopic device, which is mounted on a mounting frame.

7. The clamping drive assembly according to claim 1, characterized in that, The arc-shaped suture needle has two symmetrical mating planes, which are configured to mate with the first clamping member and the second clamping member, respectively.

8. The clamping drive assembly according to claim 7, characterized in that, The arc-shaped suture needle has a puncture end and a suture connection section that are arranged opposite to each other; In the direction from the suture connection segment to the puncture end, the distance between the two mating planes gradually increases.

9. The clamping drive assembly according to claim 7, characterized in that, An anti-slip structure is provided on the mating surface.

10. The clamping drive assembly according to claim 1, characterized in that, The end of the first clamping member that contacts the arc-shaped suture needle is provided with an anti-slip structure; and / or the end of the second clamping member that contacts the arc-shaped suture needle is provided with an anti-slip structure.

11. The clamping drive assembly according to claim 9 or 10, characterized in that, The anti-slip structure is an elastic element, an anti-slip rough layer, a protrusion, or a groove.

12. The clamping drive assembly according to any one of claims 1 to 10, characterized in that, The driving assembly includes: a plurality of first magnetic elements, which are disposed on the rotating body and arranged sequentially along the circumference of the rotating body; and The first conductor coil is disposed inside the mounting housing and located on one side of the rotating body, and the position of the first conductor coil corresponds to the position of the first magnetic component.

13. The clamping drive assembly according to any one of claims 1 to 10, characterized in that, The rotating body is a rotating ring; The drive assembly includes: a retaining ring, which is disposed within the mounting housing; A plurality of second conductor coils are fixed to the outer surface of the fixed ring; and Multiple second magnetic components are fixed on the inner surface of the rotating ring and arranged sequentially along the circumference of the rotating ring. The second magnetic components are arranged corresponding to the second conductor coil.

14. The clamping drive assembly according to any one of claims 1 to 10, characterized in that, The drive assembly includes: transmission teeth, which are disposed on the rotating body and arranged circumferentially along the rotating body; A first gear, disposed within the mounting housing and meshing with the transmission gear; and A drive unit connected to the first gear, the drive unit being configured to drive the first gear to rotate.

15. The clamping drive assembly according to claim 14, characterized in that, The driving component includes a drive motor, which is mounted on the mounting housing, and the output shaft of the drive motor is connected to the first gear; or The driving component includes a rotary flexible shaft; or The first gear is a bevel gear, and the axis of rotation of the bevel gear is perpendicular to the axis of rotation of the rotating body; The driving component includes a second gear, which is fixedly connected to the bevel gear, and the second gear and the bevel gear are coaxial. A transmission rack, which meshes with the second gear; as well as The second control cable is connected to the transmission rack.

16. The clamping drive assembly according to any one of claims 1 to 10, characterized in that, The mounting housing includes a first connecting part, a mounting part, and a second connecting part connected in sequence. The first connecting part is configured to cooperate with an endoscope; The second connecting part is connected to the suture seat; The rotating body is disposed on the outer surface of the mounting part.

17. The clamping drive assembly according to claim 1, characterized in that, The other end of the mounting bracket is provided with a clamping space, the second clamping member is located in the clamping space, and at least part of the suture seat is located in the clamping space.

18. The clamping drive assembly according to claim 17, characterized in that, The mounting bracket includes: a frame, one end of which is connected to the rotating body, and the first clamping member extending from the other end of the frame; and A fixing frame is provided on the other end of the frame body, and the fixing frame is provided with a mounting surface, which is provided corresponding to the other end of the frame body. The clamping space is located between the end face of the other end of the frame body and the mounting surface, and the second clamping member is provided on the mounting surface.

19. The clamping drive assembly according to claim 1, characterized in that, The mounting housing is provided with clearance space that cooperates with the mounting bracket.

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