Suturing device

Abstract

The utility model provides a suturing device, which relates to the technical field of medical instruments and comprises a support, a suturing needle and a driving component. The bracket is provided with a mounting part which is detachably connected to the endoscope; the driving assembly is installed on the support and is in transmission connection with the suture needle. The suture device can be combined with an endoscope, can suture a minimally invasive wound in the view of the endoscope, and is particularly suitable for endoscopic surgery with a large wound.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially is involved in a kind of suturing device. BACKGROUND

[0002] With the continuous development of surgical operation through digestive endoscope minimally invasive treatment technology, the disease types that can be treated through digestive endoscope operation gradually increase, and the size of the wound caused by operation in individual disease operation will also increase due to the need of operation, thereby increasing the difficulty of operation suture. In endoscopic minimally invasive surgery, usually no suture is needed due to small wound, but for endoscopic surgery with larger wound, there is currently a lack of minimally invasive suture equipment that can be applied to endoscope. SUMMARY

[0003] The utility model discloses a kind of suturing device, to realize the suture of minimally invasive wound in collaboration with endoscope.

[0004] In a first aspect, the utility model provides a suturing device, comprising: support, suture needle and drive assembly;

[0005] The support has a mounting portion that can be detachably connected to an endoscope;

[0006] The drive assembly is mounted to the support, and the drive assembly is in transmission connection with the suture needle.

[0007] In combination with the first aspect, the utility model provides a first possible implementation manner of the first aspect, wherein the drive assembly comprises: a drive disc, a crank and a connecting rod;

[0008] The crank is rotationally mounted to the support, the rotation axis of the crank is coaxial with the drive disc, and the crank is connected to the drive disc, the middle part of the connecting rod is slidingly hinged to the crank, and one end of the connecting rod is slidingly hinged to the support and the other end is in transmission connection with the suture needle.

[0009] In combination with the first possible implementation manner of the first aspect, the utility model provides a second possible implementation manner of the first aspect, wherein the drive disc is provided with a first winding groove and a second winding groove extending in the circumferential direction, and the first winding groove and the second winding groove are arranged axially spaced apart;

[0010] The drive disc is provided with a first connecting portion corresponding to the first winding groove and a second connecting portion corresponding to the second winding groove;

[0011] The first winding groove is provided with a first pulling wire connected to the first connecting portion and wound in a first direction, and the second winding groove is provided with a second pulling wire connected to the second connecting portion and wound in a second direction, and the first direction is opposite to the second direction.

[0012] With reference to the first possible implementation manner of the first aspect, the utility model provides a third possible implementation manner of the first aspect, wherein the middle part of the connecting rod is connected with a first shaft piece;

[0013] The crank is provided with a first sliding groove extending radially along the driving disc, and the first shaft piece is slidingly fitted in the first sliding groove.

[0014] With reference to the first possible implementation manner of the first aspect, the utility model provides a fourth possible implementation manner of the first aspect, wherein one end of the connecting rod is connected with a second shaft piece;

[0015] The bracket is provided with a second sliding groove extending from the proximal end to the distal end, and the second shaft piece is slidingly fitted in the second sliding groove.

[0016] With reference to the first possible implementation manner of the first aspect, the utility model provides a fifth possible implementation manner of the first aspect, wherein the bracket is provided with an arc-shaped sliding groove and an arc-shaped recess extending along the arc-shaped sliding groove;

[0017] The suture needle is slidingly fitted in the arc-shaped sliding groove, and the suture needle is provided with an engaging part;

[0018] The distal end of the connecting rod is connected with a third shaft piece, the third shaft piece is slidingly fitted in the arc-shaped recess, and the third shaft piece passes through the arc-shaped recess and is fitted in the engaging part.

[0019] With reference to the fifth possible implementation manner of the first aspect, the utility model provides a sixth possible implementation manner of the first aspect, wherein the third shaft piece comprises a cylinder sleeve, a plunger, a cylinder cover and a spring;

[0020] The cylinder sleeve is connected to the connecting rod, the plunger is inserted into the cylinder sleeve, the cylinder cover covers the cylinder sleeve, and the spring is installed between the plunger and the cylinder cover to drive the plunger to abut against the suture needle.

[0021] With reference to the fifth possible implementation manner of the first aspect, the utility model provides a seventh possible implementation manner of the first aspect, wherein the engaging part is provided with a plurality of engaging parts, and the plurality of engaging parts are arranged at intervals along the suture needle;

[0022] The engaging part comprises a clamping groove and a lead-out inclined surface.

[0023] The clamping groove is recessed in a direction away from the connecting rod, so that the third shaft piece can be clamped in the clamping groove and drive the suture needle to move in the direction of penetration;

[0024] The guide slope extends from one end of the clamping slot to the reverse direction of the penetrating direction and is inclined to the direction close to the connecting rod, so that the third shaft member slides out of the clamping slot along the guide slope when the connecting rod moves reversely until the third shaft member is matched with the next clamping slot.

[0025] With the first possible implementation manner of the first aspect, the utility model provides a first aspect eighth possible implementation manner, wherein, the drive disc is equipped with the wire groove that extends in circumference, the wire groove is around and is connected with metal soft silk in;

[0026] The metal soft silk is led out along the guide groove arranged on the support.

[0027] With the eighth possible implementation manner of the first aspect, the utility model provides a ninth possible implementation manner of the first aspect, wherein, the extension direction of the guide groove close to one end of the drive disc is tangent to the circumference of the drive disc.

[0028] With the eighth possible implementation manner of the first aspect, the utility model provides a tenth possible implementation manner of the first aspect, the support is installed with elastic torsion piece, and the elastic torsion piece is connected with the drive disc.

[0029] With the first aspect, the utility model provides an eleventh possible implementation manner of the first aspect, wherein, the support is connected with the retreat stopper, and the retreat stopper abuts against the suture needle to prevent the suture needle from moving reversely in the penetrating direction.

[0030] With the eleventh possible implementation manner of the first aspect, the utility model provides a twelfth possible implementation manner of the first aspect, wherein, the suture needle is provided with a plurality of retreat stop clamping slots, and the plurality of retreat stop clamping slots are arranged at intervals along the suture needle and are adapted with the retreat stoppers respectively.

[0031] The utility model embodiment brings following beneficial effects: the support has the mounting portion detachably connected to the endoscope, the combination of the suture device and the endoscope can be realized, the driving assembly is installed on the support, and the driving assembly is in transmission connection with the suture needle, so that the suture of the surgical wound in the field of view of the endoscope can be realized.

[0032] In order to make the above purpose, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are taken, and the detailed description is made as follows in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the specific embodiments or the related art of the present application, the drawings needed to be used in the description of the specific embodiments or the related art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 The schematic diagram of the suture device and the endoscope provided by the embodiment of the present application is shown in the figure.

[0035] Figure 2 The schematic diagram of the suture device provided by the embodiment of the present application is shown in the figure.

[0036] Figure 3 The schematic diagram of the driving assembly of the suture device provided by the embodiment of the present application is shown in the figure.

[0037] Figure 4 The schematic diagram of the driving disc of the suture device provided by the embodiment of the present application is shown in the figure.

[0038] Figure 5 The schematic diagram of the connecting rod of the suture device provided by the embodiment of the present application is shown in the figure.

[0039] Figure 6 The schematic diagram of the driving disc and the crank of the suture device provided by the embodiment of the present application is shown in the figure.

[0040] Figure 7 The sectional view of the third shaft part of the suture device provided by the embodiment of the present application is shown in the figure.

[0041] Figure 8 The schematic diagram of the suture needle of the suture device provided by the embodiment of the present application is shown in the figure.

[0042] Figure 9 The schematic diagram of the bracket, the suture needle, the driving disc and the stopper of the suture device provided by the embodiment of the present application is shown in the figure.

[0043] Figure 10 The schematic diagram of the bracket of the suture device provided by the embodiment of the present application is shown in the figure.

[0044] Figure 11 The schematic diagram of the bracket and the driving disc of another suture device provided by the embodiment of the present application is shown in the figure.

[0045] Figure 12 The schematic diagram of the driving disc and the crank of another suture device provided by the embodiment of the present application is shown in the figure.

[0046] Figure 13The utility model discloses a schematic view of the support, the suture needle, the driving disc, the retreat stop piece and the metal soft wire of another suture device.

[0047] Figure 14 The utility model discloses a schematic view of the support, the suture needle, the driving disc, the retreat stop piece and the metal soft wire of another suture device.

[0048] Icon: 100 - support, 101 - mounting portion, 102 - second sliding groove, 103 - arc sliding groove, 104 - guide groove, 105 - arc recess, 200 - suture needle, 210 - joint part, 211 - clamping groove, 212 - lead-out slope, 220 - retreat stop clamping groove, 300 - driving assembly, 310 - driving disc, 311 - first winding groove, 312 - second winding groove, 313 - first connecting portion, 314 - second connecting portion, 320 - crank, 321 - first sliding groove, 330 - connecting rod, 331 - first shaft piece, 332 - second shaft piece, 333 - third shaft piece, 3331 - cylinder cover, 3332 - plunger, 3333 - cylinder cover, 3334 - spring, 400 - endoscope, 500 - retreat stop piece, 600 - metal soft wire, 700 - elastic torsion piece. DETAILED DESCRIPTION

[0049] The technical scheme of the utility model will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model and not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0050] In the description of the utility model, it is necessary to explain that the orientation or position relation indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relation shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only used for describing the name difference, and cannot be understood as indicating or implying relative importance. The physical quantity in the formula, such as no separate marking, should be understood as the basic quantity of the international system of units, or the derived quantity derived from the basic quantity by multiplication, division, differentiation or integration and the like mathematical operation.

[0051] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "installation", "connection" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through intermediate medium, can be the communication inside two elements.For the ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0052] As Figure 1 , Figure 2 and Figure 3 Indicated, the utility model discloses a stitching device, comprising: support 100, suture needle 200 and drive assembly 300;Support 100 has the installation portion 101 that can be detachably connected to endoscope 400;Drive assembly 300 is installed to support 100, and drive assembly 300 is transmission connection with suture needle 200.

[0053] Specifically, installation portion 101 can adopt the mode such as clamping, threaded connection or insertion to realize the combined installation of endoscope 400, after assembly, support 100 is located at the side of endoscope 400, avoids the obstruction to the field of view of endoscope 400, and suture needle 200 is located in the field of view of endoscope 400, so as to observe the suture position through endoscope 400.Realize the combination of stitching device and endoscope 400, can realize the suture of surgical wound under the field of view of endoscope 400.

[0054] In optional implementation, installation portion 101 is configured as tubular structure, and is sleeved on the head end of endoscope 400 through tubular structure.Installation portion 101 is interference fit or screw connection with endoscope 400, to ensure stable installation.

[0055] As Figure 1 , Figure 2 , Figure 3 , Figure 9 and Figure 10 Indicated, in the utility model embodiment, drive assembly 300 includes: driving disc 310, crank 320 and connecting rod 330;Crank 320 is rotatably installed to support 100, the rotation axis of crank 320 is coaxial with driving disc 310, and crank 320 is connected with driving disc 310, the middle part of connecting rod 330 is slidably hinged with crank 320, and one end of connecting rod 330 is slidably hinged with support 100, and the other end is transmission connection with suture needle 200.

[0056] When the driving disc 310 rotates, the driving disc 310 drives the connecting rod 330 to move through the crank 320, the connecting rod 330 cooperates with one end of the suture needle 200 to slide along the support 100 reciprocatingly, so that the suture needle 200 can be driven to realize the piercing movement, and the suture needle 200 drives the suture to pierce and pass through the wound, so as to realize the suture of the wound.

[0057] As shown in Figure 3 and Figure 4 , the driving disc 310 is provided with a first winding groove 311 and a second winding groove 312 extending in the circumferential direction, the first winding groove 311 and the second winding groove 312 are arranged axially spaced apart; the driving disc 310 is provided with a first connecting part 313 corresponding to the first winding groove 311, and a second connecting part 314 corresponding to the second winding groove 312; the first winding groove 311 is provided with a first pulling wire connected with the first connecting part 313 and wound in a first direction, and the second winding groove 312 is provided with a second pulling wire connected with the second connecting part 314 and wound in a second direction, the first direction is opposite to the second direction. When the first pulling wire is pulled and the second pulling wire is released, the first pulling wire can drive the driving disc 310 to rotate; when the second pulling wire is pulled and the first pulling wire is released, the second pulling wire can drive the driving disc 310 to rotate reversely. The first connecting part 313 and the second connecting part 314 can be configured as a clamping groove or a protrusion, so that the pulling wire can be wound and knotted at the place, thereby avoiding the first pulling wire and the second pulling wire from falling off.

[0058] As shown in Figure 3 , Figure 5 and Figure 6 , the middle part of the connecting rod 330 is connected with a first shaft part 331; the crank 320 is provided with a first sliding groove 321 extending in the radial direction of the driving disc 310, and the first shaft part 331 is slidingly fitted in the first sliding groove 321. Among them, the first sliding groove 321 deviates from the axis of the driving disc 310 and extends in the radial direction of the driving disc 310. When the driving disc 310 rotates, the crank 320 drives the first shaft part 331 to move, and the first shaft part 331 slides along the first sliding groove 321.

[0059] As shown in Figure 3 , Figure 5 and Figure 10 , one end of the connecting rod 330 is connected with a second shaft part 332; the support 100 is provided with a second sliding groove 102 extending from the proximal end to the distal end, and the second shaft part 332 is slidingly fitted in the second sliding groove 102. When the driving disc 310 rotates, the crank 320 drives the connecting rod 330 to move, and the second shaft part 332 reciprocatingly slides along the second sliding groove 102.

[0060] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 9 andFigure 10 As shown in the figures, the support 100 is provided with an arc-shaped sliding groove 103 and an arc-shaped recess 105 extending along the arc-shaped sliding groove 103; the suture needle 200 is slidingly fitted in the arc-shaped sliding groove 103, and the suture needle 200 is provided with an engaging portion 210; the distal end of the connecting rod 330 is connected with a third shaft member 333, the third shaft member 333 is slidingly fitted in the arc-shaped recess 105, and the third shaft member 333 passes through the arc-shaped recess 105 and is fitted in the engaging portion 210.

[0061] When the driving disc 310 rotates, the driving disc 310 drives the crank 320 to swing, and the driving disc 310 drives the first shaft member 331, thereby driving the connecting rod 330. Not only the second shaft member 332 will reciprocate along the second sliding groove 102, but also the connecting rod 330 will swing around the second shaft member 332, thereby ensuring that the third shaft member 333 can slide along the arc-shaped sliding groove 103, and through the cooperation between the third shaft member 333 and the engaging portion 210, the suture needle 200 is driven to move.

[0062] As shown in the figures, Figure 5 and Figure 7 in an optional embodiment, the third shaft member 333 comprises a cylinder sleeve 3331, a plunger 3332, a cylinder cover 3333 and a spring 3334; the cylinder sleeve 3331 is connected to the connecting rod 330, the plunger 3332 is inserted into the cylinder sleeve 3331, the cylinder cover 3333 covers the cylinder sleeve 3331, and the spring 3334 is installed between the plunger 3332 and the cylinder cover 3333 to drive the plunger 3332 to abut against the suture needle 200. The spring 3334 can drive the plunger 3332 to extend in and out of the cylinder sleeve 3331, and the end of the plunger 3332 abuts against the suture needle 200. Referring to Figure 5 , Figure 7 , Figure 9 and Figure 10 , the cylinder sleeve 3331 slides along the arc-shaped sliding groove 103, the plunger 3332 is clamped or frictionally fitted with the engaging portion 210, thereby driving the suture needle 200 to slide along the arc-shaped sliding groove 103.

[0063] As shown in the figures, Figure 5 and Figure 8 in the present embodiment, the engaging portion 210 is provided with a plurality of engaging portions 210, and the plurality of engaging portions 210 are arranged at intervals along the suture needle 200; the engaging portion 210 comprises a clamping groove 211 and a discharging slope 212; the clamping groove 211 is recessed in a direction away from the connecting rod 330, so that the third shaft member 333 can be clamped in the clamping groove 211 and drive the suture needle 200 to move in the stabbing direction; the discharging slope 212 extends from one end of the clamping groove 211 to the opposite direction of the stabbing direction and is inclined to the connecting rod 330, so that when the connecting rod 330 moves in the opposite direction, the third shaft member 333 slides out of the clamping groove 211 along the discharging slope 212 until the third shaft member 333 is fitted in the next clamping groove 211.

[0064] Referring toFigure 8 As shown in the orientation, when the third shaft member 333 is clamped in the clamping slot 211 and drives the suture needle 200 to move clockwise, the third shaft member 333 and the engaging portion 210 keep stable cooperation, avoiding mutual slip, so as to effectively transmit power to drive the suture needle 200 to complete the puncture action. When the third shaft member 333 moves in the reverse direction of the puncture direction, the third shaft member 333 will slide along the lead-out slope 212 to disengage from the engaging portion 210, thereby ensuring that the suture needle 200 can only move in one direction.

[0065] In an optional manner, referring to Figure 5 and Figure 9 , in order to keep the suture needle 200 moving in one direction and avoid the suture needle 200 moving in the reverse direction of the puncture direction with the driving assembly 300, the bracket 100 is connected with a retreat stop member 500, which can be configured as a spring piece or a ratchet structure, and the retreat stop member 500 abuts against the suture needle 200 to prevent the suture needle 200 from moving in the reverse direction of the puncture direction.

[0066] As shown in Figure 8 and Figure 9 , the suture needle 200 is provided with a plurality of retreat stop clamping slots 220, which are arranged at intervals along the suture needle 200 and are respectively matched with the retreat stop member 500.

[0067] Referring to Figure 9 , when the suture needle 200 is driven to rotate counterclockwise to achieve puncture and suture, the retreat stop member 500 will be pushed by the slope of the retreat stop clamping slot 220 to disengage from the retreat stop clamping slot 220, thereby ensuring smooth movement of the suture needle 200 in the puncture direction; during suture, as the suture needle 200 moves, the retreat stop member 500 can slide out of one retreat stop clamping slot 220 and cooperate with another retreat stop clamping slot 220. When the suture needle 200 is driven in the reverse direction of the puncture direction, the retreat stop member 500 is clamped in the retreat stop clamping slot 220 to prevent the suture needle 200 from moving in the reverse direction.

[0068] As shown in Figure 3 , Figure 5 , Figure 8 , Figure 9 , Figure 11 , Figure 12 and Figure 14As shown, the driving disc 310 is provided with a circumferentially extending winding groove, and the metal soft wire 600 is wound in the winding groove and connected with the metal soft wire 600; the metal soft wire 600 is led out along the guide groove 104 provided on the support 100. When the metal soft wire 600 is pulled, the metal soft wire 600 pulls the driving disc 310 to rotate and drive the suture needle 200 to perform the suture action; when the metal soft wire 600 is pushed, the metal soft wire 600 will transmit the pushing force to the driving disc 310, so that the driving disc 310 reversely rotates, at this time, the suture needle 200 is limited and kept stationary by the stopper 500, the third shaft member 333 slides out from the clamping groove 211 along the guide-out inclined surface 212 until the third shaft member 333 is matched with the next clamping groove 211, and then the metal soft wire 600 can be continuously pulled to perform the suture action, and the reciprocating operation is continued until the suture is completed.

[0069] Further, the extension direction of the guide groove 104 close to one end of the driving disc 310 is tangent to the circumference of the driving disc 310, so that the metal soft wire 600 in the guide groove 104 can smoothly extend to the circumference of the driving disc 310, and the power transmission is more smooth.

[0070] In addition, referring to Figure 13 As shown, the support 100 is provided with an elastic torsion member 700, and the elastic torsion member 700 is connected with the driving disc 310. Pulling the metal soft wire 600 can drive the driving disc 310 to rotate, and the suture action of the suture needle 200 is realized through the transmission of the crank 320 and the connecting rod 330; when the metal soft wire 600 is pushed, the elastic torsion member 700 rebounds to drive the driving disc 310 to rotate and reset, and the metal soft wire 600 transmits the pushing force to realize the reset action of the driving disc 310.

[0071] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A suturing device, characterized by, The application relates to a suture needle driving device. The device comprises a support (100), a suture needle (200) and a driving assembly (300). The support (100) is detachably connected to an endoscope (400). The driving assembly (300) is installed on the support (100) and is in transmission connection with the suture needle (200).

2. The suturing device of claim 1, wherein, The driving assembly (300) comprises a driving disc (310), a crank (320) and a connecting rod (330). The crank (320) is rotationally installed on the support (100), the rotation axis of the crank (320) is coaxial with the driving disc (310), the crank (320) is connected with the driving disc (310), the middle part of the connecting rod (330) is slidingly hinged with the crank (320), one end of the connecting rod (330) is slidingly hinged with the support (100), and the other end of the connecting rod (330) is in transmission connection with the suture needle (200).

3. The suturing device of claim 2, wherein, The driving disc (310) is provided with a first wire groove (311) and a second wire groove (312) extending in the circumferential direction, and the first wire groove (311) and the second wire groove (312) are arranged in the axial direction. The driving disc (310) is provided with a first connecting part (313) corresponding to the first wire groove (311) and a second connecting part (314) corresponding to the second wire groove (312). The first wire groove (311) is provided with a first pulling wire connected with the first connecting part (313) and arranged in a first direction, and the second wire groove (312) is provided with a second pulling wire connected with the second connecting part (314) and arranged in a second direction, wherein the first direction is opposite to the second direction.

4. The suturing device of claim 2, wherein, The middle part of the connecting rod (330) is connected with a first shaft part (331). The crank (320) is provided with a first sliding groove (321) extending in the radial direction of the driving disc (310), and the first shaft part (331) is slidingly matched in the first sliding groove (321).

5. The suturing device of claim 2, wherein, One end of the connecting rod (330) is connected with a second shaft part (332). The support (100) is provided with a second sliding groove (102) extending from the proximal end to the distal end, and the second shaft part (332) is slidingly matched in the second sliding groove (102).

6. The suturing device of claim 2, wherein, The support (100) is provided with an arc-shaped sliding groove (103) and an arc-shaped recess (105) extending along the arc-shaped sliding groove (103). The suture needle (200) is slidingly matched in the arc-shaped sliding groove (103), and the suture needle (200) is provided with an engaging part (210). The distal end of the connecting rod (330) is connected with a third shaft part (333), the third shaft part (333) is slidingly matched in the arc-shaped recess (105), the third shaft part (333) passes through the arc-shaped recess (105) and is matched in the engaging part (210).

7. The suturing device of claim 6, wherein, The third shaft part (333) comprises a cylinder sleeve (3331), a plunger (3332), a cylinder cover (3333) and a spring (3334). The cylinder sleeve (3331) is connected to the connecting rod (330), the plunger (3332) is inserted into the cylinder sleeve (3331), the cylinder cover (3333) covers the cylinder sleeve (3331), and the spring (3334) is installed between the plunger (3332) and the cylinder cover (3333) to drive the plunger (3332) to abut against the suture needle (200).

8. The suturing device of claim 6, wherein, The joint (210) is provided with a plurality of joint (210), and the plurality of joint (210) is arranged at intervals along the suture needle (200); The joint (210) comprises a clamping groove (211) and a lead-out slope (212); The clamping groove (211) is recessed away from the connecting rod (330), so that the third shaft (333) can be clamped in the clamping groove (211) and drive the suture needle (200) to move in the direction of penetration; The lead-out slope (212) extends from one end of the clamping groove (211) to the reverse direction of the penetration direction and inclines to the direction close to the connecting rod (330), so that when the connecting rod (330) moves reversely, the third shaft (333) slides out of the clamping groove (211) along the lead-out slope (212) until the third shaft (333) is matched with the next clamping groove (211).

9. The suturing device of claim 2, wherein, The driving disc (310) is provided with a circumferentially extending winding groove, and the metal soft wire (600) is wound in the winding groove and connected; The metal soft wire (600) is led out along the guide groove (104) provided in the support (100).

10. The suturing device of claim 9, wherein, The extension direction of the guide groove (104) close to one end of the driving disc (310) is tangent to the circumference of the driving disc (310).

11. The suturing device of claim 2 or 9, wherein, The support (100) is provided with an elastic torsion member (700), and the elastic torsion member (700) is connected with the driving disc (310).

12. The suturing device according to claim 1, wherein, The support (100) is connected with a retreat stop member (500), and the retreat stop member (500) abuts against the suture needle (200) to prevent the suture needle (200) from moving reversely in the direction of penetration.

13. The suturing device according to claim 12, wherein, The suture needle (200) is provided with a plurality of retreat stop clamping grooves (220), and the plurality of retreat stop clamping grooves (220) are arranged at intervals along the suture needle (200) and are respectively matched with the retreat stop member (500).

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