Hydraulically-driven semi-automatic sewing device

Abstract

The utility model discloses a hydraulic drive semi-automatic suturing device which comprises a main shaft, a near-end rotating cylinder and a far-end rotating cylinder, the main shaft comprises a connecting pipe, a far-end rotating cylinder liquid channel shifter and a far-end limiting stopper, the near-end rotating cylinder is installed between the connecting pipe and the far-end rotating cylinder liquid channel shifter, and the far-end limiting stopper is installed between the near-end rotating cylinder and the far-end rotating cylinder liquid channel shifter. A far-end limiting stopper is arranged at the end, away from the connecting pipe, of the main shaft, the far-end rotating cylinder is installed between the far-end limiting stopper and the far-end rotating cylinder liquid channel shifter, and partition plates are arranged on the shaft sections, where the near-end rotating cylinder and the far-end rotating cylinder are installed, of the main shaft. A piston, a connecting rod and two chucks are arranged in each of the near-end rotating cylinder and the far-end rotating cylinder. According to the device, the near-end rotating cylinder, the far-end rotating cylinder, the clamping head and the simulated human arms and hands are driven through the hydraulic system, a traditional sewing mode can be replaced, operation safety is ensured through stability and accurate control of the hydraulic system, and sewing precision and sewing efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the field of suturing devices, in particular to a hydraulically driven semi-automatic suturing device. Background Art

[0002] Clinically, intracavitary surgery often requires conversion to laparoscopy or even open surgery if hollow organ perforation, severe bleeding, or fistulas are encountered, increasing patient trauma and medical burden. While there are alternatives to manual suturing in the digestive system, these still have a high failure rate. Furthermore, there are no alternatives to manual suturing in the urological and gynecological systems. The key reason for this is the lack of a semi-automated intracavitary suturing mechanism that can fully simulate the sequential movements of manual suturing.

[0003] This system will be widely used in medical flexible endoscopes. However, ureteral flexible endoscopes are extremely slender, and conventional front-mounted servo motors are not up to the task. In addition, the urinary cavity is a liquid working environment. At the same time, due to the softness of the flexible endoscope system, taking the ureteral flexible endoscope as an example, the insertion of a guidewire or laser fiber into the channel will limit the flexion angle of the distal end of the flexible endoscope. If this device uses a mechanical power transmission system, it will inevitably interfere with the flexion angle of the flexible endoscope and affect the treatment effect. Therefore, the mechanical principle is not ideal. In cases where the operating steps are complex and the actuator is far away from the power element, the hydraulic principle is better than the mechanical one. At the same time, when the output power is the same, the actuator of the hydraulic system is also the lightest. Therefore, the hydraulic principle is the preferred principle in this system and can provide high-precision control. However, there are currently no similar products of the hydraulic semi-automatic suturing device. Utility Model Content

[0004] In view of the above technical problems in the related art, the present invention provides a hydraulically driven semi-automatic suturing device that can solve the above problems.

[0005] In order to achieve the above technical purpose, the technical solution of the utility model is implemented as follows:

[0006] A hydraulically driven semi-automatic suturing device is characterized in that it includes a main shaft, a proximal rotor and a distal rotor, the main shaft includes a connecting tube, a distal rotor liquid channel shifter and a distal limiter, the proximal rotor is installed between the connecting tube and the distal rotor liquid channel shifter, the main shaft is provided with a distal limiter at one end away from the connecting tube, the distal rotor is installed between the distal limiter and the distal rotor liquid channel shifter, the shaft sections on the main shaft where the proximal rotor and the distal rotor are installed are both provided with partitions, and the proximal rotor and the distal rotor each include a piston, a connecting rod and two chucks.

[0007] Furthermore, the piston is connected to the connecting rod, the connecting rod is connected to the chuck, the chuck is pushed by the piston, an L-shaped track is provided in the chuck, the connecting rod is provided with a round pin, and the connecting rod is slidably connected to the L-shaped track through the round pin.

[0008] Furthermore, a liquid passage is provided inside the proximal rotating cylinder and the distal rotating cylinder, and four liquid passages are provided inside the connecting tube and the distal rotating cylinder liquid channel shifter.

[0009] Furthermore, rotation limiters are provided in the rotating shafts of the proximal rotating drum and the distal rotating drum.

[0010] Furthermore, the connecting pipe is connected to an external hydraulic drive and control device.

[0011] The beneficial effects of the utility model are as follows: the device of the present application drives the proximal and distal rotating drums and chucks through a hydraulic system, simulating human arms and hands, and can replace the traditional suturing method. The stability and precise control of the hydraulic system ensure the safety of operation and improve the suturing accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] The utility model is described in further detail below with reference to the accompanying drawings.

[0014] Figure 1 This is a structural diagram of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0015] Figure 2 This is a schematic structural diagram of the chuck portion of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0016] Figure 3 This is a schematic diagram of the proximal drum structure of a hydraulically driven semi-automatic suturing device according to an embodiment of the present invention;

[0017] Figure 4 This is a schematic diagram of the distal end rotating drum structure of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0018] Figure 5 This is a schematic diagram of the main shaft and liquid channel shifter of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0019] Figure 6 This is a schematic diagram of the liquid passages in a system of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0020] Figure 7 This is a schematic diagram of the distribution of liquid channels in a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0021] Figure 8 This is a schematic diagram of the liquid passage in the rotating drum of a hydraulically driven semi-automatic suturing device according to an embodiment of the present utility model;

[0022] In the picture:

[0023] 1. Main shaft; 2. Connecting tube; 3. Distal rotor liquid channel shifter; 4. Distal stopper; 5. Proximal rotor; 6. Distal rotor; 7. Chuck. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0025] like Figure 1-6 As shown, according to the utility model, a hydraulically driven semi-automatic suturing device is disclosed, comprising a main shaft, a proximal rotary drum and a distal rotary drum, the main shaft comprising a connecting tube, a distal rotary drum liquid channel shifter and a distal stopper, the proximal rotary drum being installed between the connecting tube and the distal rotary drum liquid channel shifter, the main shaft being provided with a distal stopper at one end away from the connecting tube, the distal rotary drum being installed between the distal stopper and the distal rotary drum liquid channel shifter, the shaft sections on the main shaft where the proximal rotary drum and the distal rotary drum are installed being provided with partitions, the proximal rotary drum and the distal rotary drum each comprising a piston, a connecting rod and a pair of chucks;

[0026] In one embodiment of the present invention, the piston is connected to the connecting rod, the connecting rod is connected to the chuck, the chuck is pushed by the piston, an L-shaped track is provided in the chuck, the connecting rod is provided with a round pin, the connecting rod is slidably connected to the L-shaped track through the round pin, a liquid passage is provided in the proximal rotating cylinder and the distal rotating cylinder, four liquid passages are provided in the connecting pipe and the distal rotating cylinder liquid channel shifter, a rotation limiter is provided in the rotating shaft of the proximal rotating cylinder and the distal rotating cylinder, and the connecting pipe is connected to an external hydraulic drive and control device;

[0027] The main shaft includes a connecting tube, a distal rotor fluid channel shifter, and a distal stopper. The proximal rotor is mounted in the shaft section between the connecting tube and the distal rotor fluid channel shifter, with a partition plate installed on this shaft section. The distal rotor is mounted in the shaft section between the distal rotor fluid channel shifter and the distal stopper, with a partition plate installed on this shaft section.

[0028] Each drum contains a piston, a connecting rod, and a pair of chucks. The piston is connected to the connecting rod, which in turn is connected to the chucks. The piston's movement drives the chucks to open and close, and a connecting tube connects to the outside.

[0029] like Figure 7 As shown, the connecting pipe contains four liquid channels, namely:

[0030] The drum limit position A corresponds to the liquid channel

[0031] The drum limit position B corresponds to the liquid channel

[0032] The drum rotates the liquid channel 1

[0033] The drum rotates the liquid channel 2

[0034] The liquid can be respectively passed into the liquid channels of the connecting tube, the rotating cylinder and the liquid channel shifter of the distal rotating cylinder.

[0035] The proximal rotating cylinder contains a liquid passage inside, which can connect with the corresponding liquid channels at the outermost limit positions A and B of the distal end of the connecting tube at the two rotation limit positions (A and B), thereby controlling the opening and closing of the corresponding chuck.

[0036] like Figure 8 As shown, the liquid space formed by the proximal rotor and the connecting tube, the distal rotor liquid channel shifter and the proximal rotor shaft section of the main shaft is divided into two independent liquid spaces by the proximal rotor shaft section partition of the main shaft. The space on the extreme position A side (proximal rotor A space) is connected to the connecting tube and the rotor liquid channel 1 of the distal rotor liquid channel shifter at the proximal end and distal end respectively, and the space on the extreme position B side (proximal rotor B space) is connected to the connecting tube and the rotor liquid channel 2 of the distal rotor liquid channel shifter at the proximal end and distal end respectively.

[0037] The distal rotor fluid channel shifter contains four fluid channels. The corresponding fluid channels at rotor limit positions A and B swap positions within the distal rotor fluid channel shifter. Rotating fluid channels 1 and 2 also swap positions within the distal rotor fluid channel shifter. Therefore, limit position A of the proximal rotor is on opposite sides of the distal rotor. The proximal and distal rotors are simultaneously stationary or simultaneously move in opposite directions within the same half plane, with the angle between them being 180° at their respective limit positions.

[0038] The liquid space formed by the distal rotor and the distal rotor liquid channel shifter, the distal limiter and the distal rotor shaft section of the main shaft is divided into two independent liquid spaces by the distal rotor shaft section partition of the main shaft. The proximal end of the space on the limit position A side (the distal rotor A space) is connected to the rotor liquid channel 1 of the distal rotor liquid channel shifter, and the proximal end of the space on the limit position B side (the distal rotor B space) is connected to the rotor liquid channel 2 of the distal rotor liquid channel shifter.

[0039] The distal rotor contains a liquid passage inside, which can be connected to the liquid passages corresponding to the outermost limit positions A and B of the distal rotor liquid passage shifter at the two rotation limit positions (B, A), thereby controlling the opening and closing of the corresponding chuck.

[0040] Through the distal rotor liquid channel shifter, the proximal rotor A space is connected to the distal rotor A space, and the proximal rotor B space is connected to the distal rotor B space, thereby ensuring that the two rotors move in opposite directions or remain stationary synchronously; when the internal liquid channel of the proximal rotor and the internal liquid channel of the distal rotor are at their respective limit positions A, they are connected through the liquid channel corresponding to the limit position A in the distal rotor liquid channel shifter; when they are at their respective limit positions B, they are connected through the liquid channel corresponding to the limit position B in the distal rotor liquid channel shifter, thereby ensuring that the pistons in the two rotors move in the same direction or remain stationary at the same time.

[0041] When the two rotating drums rotate, the interfaces of the channels therein are separated from the connecting tube and the liquid channel interfaces corresponding to the limit positions of the liquid channel shifters of the distal rotating drum and kept sealed. At this time, the chuck does not move.

[0042] When the two rotating drums reach the limit position, the interface of the channel contained therein docks with the connecting pipe and the liquid channel interface corresponding to the distal limit position of the distal rotating drum liquid channel shifter. At this time, the chuck can move in a controlled manner.

[0043] Each chuck contains an L-shaped track with one side longer than the other. The connecting rod's round pin slides within the track. When the two rotating drums reach a certain limit position, the connecting rods within them move synchronously in the same direction. Because one side of the L-shaped track is longer than the other, the chuck with the round pin initially located on the shorter track moves first, while the chuck with the round pin located on the longer track moves later. This results in the previously open chuck closing first at each limit position, and the previously closed chuck opening later, facilitating the transfer of the needles.

[0044] Under the control of the hydraulic system, the rotating drum causes liquid to flow into or out of one of the rotating fluid channels 1 or 2, pushing the two drums from their respective limit positions A or B to their respective limit positions B or A. The drum then stops the flow of liquid into or out of the rotating fluid channels. At this point, the limit position corresponds to the flow of liquid into or out of the fluid channel, pushing the piston inside the drum to move in the same direction. Combined with the action of the L-shaped track, the previously open chuck closes first, followed by the previously closed chuck opening again. The drum can then be controlled to move in the opposite direction, repeating the cycle, thus completing the reciprocating motion of "drum rotation - proximal chuck capture - distal chuck vertical movement - drum rotation - distal chuck capture - proximal chuck vertical movement."

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hydraulically driven semi-automatic suturing device, characterized in that: The invention comprises a main shaft (1), a proximal rotating cylinder (5) and a distal rotating cylinder (6), wherein the main shaft (1) comprises a connecting tube (2), a distal rotating cylinder liquid channel shifter (3) and a distal stopper (4), wherein the proximal rotating cylinder (5) is installed between the connecting tube (2) and the distal rotating cylinder liquid channel shifter (3), and the main shaft (1) is provided with a distal stopper (4) at one end away from the connecting tube (2), and the distal rotating cylinder (6) is installed between the distal stopper (4) and the distal rotating cylinder liquid channel shifter (3). The shaft sections of the main shaft (1) on which the proximal rotating cylinder (5) and the distal rotating cylinder (6) are installed are both provided with partitions, and the proximal rotating cylinder (5) and the distal rotating cylinder (6) each comprise a piston, a connecting rod and two chucks (7).

2. A hydraulically driven semi-automatic suturing device according to claim 1, characterized in that: The piston is connected to the connecting rod, and the connecting rod is connected to the chuck (7). The chuck (7) is pushed by the piston. An L-shaped track is provided in the chuck (7). The connecting rod is provided with a round pin. The connecting rod is slidably connected to the L-shaped track through the round pin.

3. The hydraulically driven semi-automatic suturing device according to claim 1, characterized in that: A liquid passage is provided in the proximal rotating cylinder (5) and the distal rotating cylinder (6), and four liquid passages are provided in the connecting tube (2) and the distal rotating cylinder liquid channel shifter (3).

4. The hydraulically driven semi-automatic suturing device according to claim 1, characterized in that: Rotation limiters are provided in the rotating shafts of the proximal rotating drum (5) and the distal rotating drum (6).

5. The hydraulically driven semi-automatic suturing device according to claim 1, characterized in that: The connecting pipe (2) is connected to an external hydraulic drive and control device.

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