An automatic suturing apparatus for laparoscopic iliopsoas ligament suspension

Abstract

The present application relates to the technical field of medical devices, in particular to an automatic suturing device for laparoscopic iliopectineal ligament suspension surgery. In view of the problems of difficult control of suturing angle, long time consumption and long learning curve of young doctors in the existing surgery relying on manual clamping of suture needle with suture thread, the device comprises a grasping clamp rod, a suture needle mounting assembly, a driving mechanism and an operation part. The grasping clamp rod is adapted to a single-hole laparoscopic operation channel. The suture needle mounting assembly is arranged at the distal end of the grasping clamp rod to fix the suture needle. The driving mechanism is built in the grasping clamp rod connecting assembly and the operation part, and can drive the suture needle to complete the suturing action. The device can improve the operation efficiency, reduce the operation difficulty and shorten the learning curve of beginners, and is suitable for laparoscopic iliopectineal ligament suspension surgery for mid-pelvic prolapse.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an automatic suturing device for laparoscopic iliopectineal ligament suspension surgery. Background Technology

[0002] Pelvic organ prolapse is a common pelvic floor dysfunction in middle-aged and elderly women. Among them, mid-pelvic prolapse (mainly manifested by uterine or vaginal apex prolapse) is treated with laparoscopic iliopectineal ligament suspension, which has become a commonly used clinical procedure due to its advantages such as minimal trauma and long-lasting efficacy.

[0003] The core procedure involves fixing the vaginal apex to the lateral portion of the bilateral iliopubic ligaments using a mesh, utilizing the anatomical stability of the iliopubic ligaments to suspend the midpelvic cavity. In current surgeries, the suturing and fixation of the mesh to the lateral end of the iliopubic ligaments relies on manual manipulation by the surgeon under laparoscopic guidance: the surgeon holds a suture needle with 6977 suture (6977 suture is a commonly used non-absorbable suture suitable for the tissue tension requirements of this area) with laparoscopic forceps, and completes the needle insertion, suture placement, and knot tying by adjusting the angle of the forceps and controlling the hand pressure.

[0004] However, existing manual suturing methods have significant shortcomings: First, controlling the suture angle is difficult. Because the lateral end of the iliopubic ligament is located deep in the pelvic cavity and its anatomical position is hidden, the operating space under the laparoscopic view is limited. When manually adjusting the angle of the grasping forceps, the direction of the suture needle is easily deviated, which may lead to ligament tissue damage or insufficient suture depth, affecting the fixation effect. Secondly, the surgery is time-consuming. Unilateral iliopectine ligament usually requires 1-2 stitches. The puncture and placement of each stitch require the doctor to control the hand movements precisely. Bilateral operations take a long time in total, which not only increases the patient's anesthesia time, but also increases the doctor's fatigue. Third, the learning curve is steep. Young doctors who are new to pelvic floor surgery need a long period of practice to master the stability and angle control skills of manually holding sutures under laparoscopy, making it difficult for them to quickly and independently perform the procedure, which limits the promotion of the technology.

[0005] In summary, the suturing procedure in current laparoscopic iliopectine ligament suspension surgery relies on the surgeon's manual skills, which results in low efficiency, high difficulty, and high learning costs. There is an urgent need for a specialized instrument that can assist in completing the suturing action and lower the operational threshold. Summary of the Invention

[0006] The purpose of this invention is to address the technical problems of manual suture clamping in existing laparoscopic iliopectine ligament suspension surgeries, such as difficulty in angle control, long operation time, and long learning curve for young doctors. This invention provides an automatic suturing instrument for laparoscopic iliopectine ligament suspension surgeries, which achieves stable fixation of the suture needle and semi-automatic suturing action, thereby improving surgical efficiency and ease of operation.

[0007] To address the aforementioned technical problems, this invention discloses an automated suturing instrument for laparoscopic iliopectineal ligament suspension surgery, comprising: The gripping lever has a hollow structure. A needle mounting assembly is located at the distal end of the gripper bar, and the needle mounting assembly is provided with a slot for accommodating the tail of the needle. The drive mechanism is built into the hollow cavity of the gripper bar, and one end of the drive mechanism is connected to the needle mounting assembly for transmission. The operating part is located at the proximal end of the gripper bar and is connected to the other end of the drive mechanism.

[0008] Furthermore, the needle mounting assembly includes two symmetrically arranged clamping claws, the roots of which are hinged to a slider, which is slidably mounted on the distal end of the gripper bar; the middle of each clamping claw is also hinged to a fixed seat at the distal end of the gripper bar via a connecting rod; the slot is located inside the free end of the clamping claw; the needle mounting assembly also includes an elastic limiting block located inside the clamping claw, which is located in the slot or on the side wall of the slot.

[0009] Furthermore, the driving mechanism includes a transmission rope and a return spring; the transmission rope passes through the hollow cavity of the gripper bar, with one end connected to the slider and the other end extending into the operating part; a rotating disk is rotatably mounted inside the operating part, and the other end of the transmission rope is fixedly connected to the eccentric position of the rotating disk; a driving button is fixedly connected to the outer periphery of the rotating disk, and the driving button extends out of the outer shell of the operating part; the return spring is sleeved on the outside of the transmission rope, with one end abutting against the retaining ring on the inner wall of the gripper bar and the other end abutting against the slider.

[0010] Furthermore, the drive mechanism includes a micro motor, a gear set, a transmission rod, and a controller; the micro motor is electrically connected to the controller and is located within the operating part; the gear set includes a meshing gear and a rack, the gear is fixedly mounted on the output shaft of the micro motor, and the rack is slidably mounted within the operating part; one end of the transmission rod is fixedly connected to the rack, and the other end extends into the hollow cavity of the gripper bar and is connected to the slider; the controller is located on the surface of the operating part.

[0011] Furthermore, the gripper bar is made of medical-grade stainless steel and has an anti-reflective coating on its surface; the gripper bar is 30-45cm long and has an outer diameter of 5-8mm.

[0012] Furthermore, the outer wall of the gripper bar is provided with a suture guide groove, which extends from the distal outer wall of the gripper bar towards the proximal end.

[0013] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: The gripper lever is compatible with the single-port laparoscopic operating channel, allowing instruments to be smoothly extended from outside the body to the intra-abdominal iliopubic ligament surgical area. This solves the problem that existing manual instruments cannot accurately reach the surgical site, providing a stable foundation for subsequent suturing operations.

[0014] The needle mounting assembly can detachably fix the needle with 6977 thread through the slot and the limiting piece, avoiding the instability or falling off that is easy to occur when manually holding the needle. It ensures that the needle is stable in position during suturing and reduces the risk of ligament tissue damage or poor suturing effect caused by needle deviation.

[0015] The drive mechanism is built into the gripper bar and connects the suture needle mounting assembly and the operating unit. The operating unit can control the drive mechanism to drive the suture needle to complete the suturing action, replacing the cumbersome operation of manually adjusting the suture angle and force. This solves the problems of difficulty in controlling the suture angle and long operation time, while lowering the threshold of surgical operation and helping young doctors who are new to pelvic floor surgery to quickly master the operation skills and significantly shorten the learning curve.

[0016] The synergistic action of the various structures enables efficient and stable suturing of the mesh to the lateral end of the iliopubic ligament during laparoscopic iliopubic ligament suspension surgery. This improves surgical efficiency while ensuring suture quality, providing reliable instrumental support for the clinical treatment of mid-pelvic prolapse. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall appearance structure of Embodiment 1; Figure 2 This is a schematic diagram of the overall front sectional structure of Embodiment 1; Figure 3 for Figure 2 A magnified structural diagram at point A; Figure 4 This is a schematic diagram of the overall appearance structure of Example 2; Figure 5 This is a schematic diagram of the overall frontal cross-sectional structure of Example 2; Figure 6 is Figure 5 A magnified structural diagram at point B; Figure 7 for Figure 5A magnified structural diagram at point C; Figure 8 This is a schematic diagram of the end face structure of the clamping claw in this invention patent.

[0019] Explanation of the labels in the diagram: 1. Gripping lever; 11. Thread guide groove; 12. Sliding block; 13. Operating unit; 2. Clamping claw; 21. Slot; 22. Elastic limit block; 31. Transmission rope; 32. Return spring; 33. Rotary disc; 34. Drive button; 41. Miniature motor; 42. Gear; 43. Rack; 44. Transmission rod. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout 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 herein can be combined with other embodiments.

[0023] Example 1: See Figures 1-3 as well as Figure 8 This embodiment provides a manually assisted automatic suture device for laparoscopic iliopectineal ligament suspension.

[0024] The suture device mainly includes a gripper bar 1, a needle mounting assembly, a drive mechanism, and an operating part 13.

[0025] The grasping lever 1 is a long-handled laparoscopic grasping lever, specifically a slender, hollow tubular rod made of medical-grade stainless steel with a dark anti-reflective coating. Its length is preferably 35 cm, and its outer diameter is, for example, 5 mm or 8 mm, to accommodate different sizes of single-port laparoscopic trocar channels. A longitudinally extending suture guide groove 11 is formed on one side of the outer wall of the grasping lever 1, extending from the distal end to the proximal end, to accommodate and guide the suture.

[0026] Inside the distal end of the gripper bar 1, a slider 12 is slidably mounted. The needle mounting assembly is located outside the distal end of the gripper bar 1, its core consisting of two symmetrically arranged clamping claws 2. The roots of the two clamping claws 2 are hinged together to the front end of the slider 12 via a hinge shaft. On the inner side of the free end of each clamping claw 2, a groove 21 is machined to precisely match the cross-sectional shape of the needle tail of a specific type of needle (such as a needle with 6977 thread) (see [link]). Figure 8 In the inner wall of each of the two slots 21, there is a hemispherical elastic limiting block 22 made of medical silicone. The middle part of each gripper 2 is also hinged to the fixed seat at the far end of the gripper bar 1 via a connecting rod. The drive mechanism is manually assisted and is built into the hollow cavity of the gripper bar 1. It includes a drive rope 31 that runs through the bar and a return spring 32 sleeved on it. The distal end of the drive rope 31 is fixedly connected to the slider 12. The return spring 32 is located near the rear end of the slider 12, with one end abutting against an annular retaining ring machined into the inner wall of the gripper bar 1, and the other end abutting against the rear end face of the slider 12.

[0027] The operating unit 13 is fixedly connected to the proximal end of the gripper lever 1, resembling a pistol grip for easy holding by the doctor. Inside the operating unit 13, a rotating disk 33 is rotatably mounted. The proximal end of the transmission cable 31 passes over a guide wheel and is fixedly connected to an off-center position on the rotating disk 33. On the outer edge of the rotating disk 33, a drive button 34 is fixedly mounted, which partially protrudes from the housing of the operating unit 13 and is located where the doctor's index finger rests naturally.

[0028] The working principle of this embodiment is as follows: Preoperative preparation: Align the end of the suture needle with the needle and place it into the slot 21 of the two open clamping claws 2, and then place the suture into the suture guide groove 11.

[0029] Intraoperative procedure: The surgeon holds the operating unit 13 and inserts the instruments into the abdominal cavity through the trocar (cannula and needle), ensuring the needle tip is against the target ligament tissue. The entire rod can be rotated as needed for visualization. When suturing is required, the surgeon presses the drive button 34 with their index finger. The drive button 34 rotates the rotating disk 33. Because the transmission rope 31 is connected to the eccentric part of the rotating disk 33, the rotational motion is converted into linear traction on the transmission rope 31, thus pulling the transmission rope 31 backward (proximal direction).

[0030] Puncture Action: The transmission rope 31 pulls the slider 12 backward. At this time, the backward movement of the slider 12 causes the roots of the two clamping claws 2 to move backward as well. Since the needle tip has already pressed against the tissue formation fulcrum, with the roots of the clamping claws 2 moving backward and the tips constrained, through the leverage of the clamping claws 2 themselves, as the slider 12 moves backward, due to the constraint of the connecting rod, the tips of the clamping claws 2 are forced to move along a specific trajectory. This trajectory simultaneously has radial closing and axial forward components. The tips of the two clamping claws 2 are forced to perform a compound movement of simultaneously closing towards the center (clamping the needle) and pushing forward (distal direction). This movement stably and forcefully inserts the needle into the ligament and mesh. During this process, the return spring 32 is compressed and stores energy.

[0031] Reset Action: After the puncture is completed, the doctor releases the drive button 34. The compressed reset spring 32 releases its elasticity, pushing the slider 12 forward to reset. The slider 12 moves forward, causing the base of the clamping claws 2 to move forward as well, thereby causing the two clamping claws 2 to rotate around the hinge point and automatically open, releasing the clamp on the suture needle. The doctor can then remove the instrument to perform subsequent suture pulling and knot tying operations.

[0032] Example 2: See Figure 4-8 This embodiment provides an electrically driven automatic suture device for laparoscopic iliopectineal ligament suspension surgery. Its gripper bar 1, suture needle mounting assembly, suture guide groove 11, and other structures are basically the same as those in Embodiment 1, with the main difference being the drive mechanism.

[0033] In this embodiment, the drive mechanism is an electric drive assembly integrated within the operating unit 13. It includes a micro motor 41, a gear set consisting of a gear 42 and a rack 43, a transmission rod 44, and a controller disposed on the surface of the operating unit 13. Figure 4 and Figure 5 (Shown but not labeled, these are membrane buttons located on the operation section 13).

[0034] A micro motor 41 is fixed inside the operating part 13, and a gear 42 is fixedly mounted on its output shaft. A rack 43 is slidably mounted on a guide rail inside the operating part 13 and meshes with the gear 42. One end of a transmission rod 44 is fixedly connected to the end of the rack 43, and the other end serves as a power output rod, extending forward into the hollow cavity of the gripper bar 1 and connecting with the internal slider 12 (functioning the same as in Embodiment 1). A controller is electrically connected to the micro motor 41 and is used to control the motor's start, stop, forward and reverse rotation, and can adjust the speed.

[0035] The working principle of this embodiment is as follows: The doctor issues a "forward" command via the controller, causing the micro motor 41 to rotate forward, driving the gear 42 to rotate, which in turn drives the rack 43 to move linearly. The rack 43 pushes the slider 12 forward via the transmission rod 44 (or pulls the slider 12 according to the transmission design), thereby driving the gripper 2 to perform the closing and puncture actions. After the puncture is completed, the doctor issues a "reverse" command via the controller, causing the micro motor 41 to reverse, driving the rack 43 and transmission rod 44 to move in the opposite direction, causing the slider 12 to return to its original position and the gripper 2 to open. The electric drive provides a smoother, more uniform, and controllable puncture action.

[0036] Finally, it should be noted that the automatic suturing instrument for laparoscopic iliopectineal ligament suspension disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, not to limit it. Although the present invention 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated suturing instrument for laparoscopic iliopubic ligament suspension, characterized in that, include: The gripper bar (1) has a hollow structure. A needle mounting assembly is located at the distal end of the gripper bar (1), and the needle mounting assembly is provided with a slot (21) for accommodating the needle tail. The drive mechanism is built into the hollow cavity of the gripper bar (1), and one end of the drive mechanism is connected to the needle mounting assembly for transmission. The operating part (13) is located at the proximal end of the gripper bar (1) and is connected to the other end of the drive mechanism.

2. The automatic suturing instrument for laparoscopic iliopectineal ligament suspension according to claim 1, characterized in that: The needle mounting assembly includes two symmetrically arranged clamping claws (2), the roots of the two clamping claws (2) are hinged to a slider (12), and the slider (12) is slidably mounted on the distal end of the gripper bar (1); The middle part of each of the gripping claws (2) is also hinged to the fixed seat at the far end of the gripping bar (1) via a connecting rod; The slot (21) is located inside the free end of the clamping claw (2); The needle mounting assembly also includes an elastic limiting block (22) disposed inside the clamping claw (2), the elastic limiting block (22) being located inside the slot (21) or on the side wall of the slot (21).

3. The automatic suturing instrument for laparoscopic iliopectineal ligament suspension according to claim 2, characterized in that: The drive mechanism includes a transmission rope (31) and a return spring (32). The transmission rope (31) is threaded through the hollow cavity of the gripper bar (1), with one end connected to the slider (12) and the other end extending into the operating part (13); A rotating disk (33) is rotatably mounted inside the operating part (13). The other end of the transmission rope (31) is fixedly connected to the eccentric position of the rotating disk (33). A drive button (34) is fixedly connected to the outer periphery of the rotating disk (33). The drive button (34) extends out of the housing of the operation part (13); The reset spring (32) is sleeved on the outside of the transmission rope (31). One end of the reset spring (32) abuts against the retaining ring on the inner wall of the gripper bar (1), and the other end abuts against the slider (12).

4. The automatic suturing instrument for laparoscopic iliopectineal ligament suspension according to claim 2, characterized in that: The drive mechanism includes a micro motor (41), a gear set, a transmission rod (44), and a controller; The micro motor (41) is electrically connected to the controller and is located inside the operating unit (13); The gear set includes a meshing gear (42) and a rack (43). The gear (42) is fixedly mounted on the output shaft of the micro motor (41), and the rack (43) is slidably mounted in the operating part (13). One end of the transmission rod (44) is fixedly connected to the rack (43), and the other end extends into the hollow cavity of the gripper rod (1) and is connected to the slider (12); The controller is located on the surface of the operating part (13).

5. The automatic suturing instrument for laparoscopic iliopectineal ligament suspension according to claim 1, characterized in that: The gripper bar (1) is made of medical stainless steel and has an anti-reflective coating on its surface; the gripper bar (1) is 30-45cm long and has an outer diameter of 5-8mm.

6. The automatic suturing instrument for laparoscopic iliopectineal ligament suspension according to claim 1, characterized in that: The outer wall of the gripper bar (1) is provided with a suture guide groove (11), which extends from the distal outer wall of the gripper bar (1) to the proximal end.

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