Needle driving assembly under endoscope, and suturing device

Abstract

The present application provides a needle driving assembly under an endoscope, and a suturing device. The needle driving assembly under an endoscope comprises: a housing assembly, an arc-shaped suture needle, a rotating body, a driving assembly, a control member, a snap-fitting member and a limiting member. The control member cooperates the driving assembly to control the rotating body to rotate, and the rotating body drives the snap-fitting member to rotate in a first direction or a second direction, so that the arc-shaped suture needle rotates by one circle relative to the housing assembly, so as to thread human tissue with a needle one time. The structure has a rational design, is compact, and is convenient to use, and by means of cooperation of the rotating body, the driving assembly, the control member, the snap-fitting member and the limiting member, the arc-shaped suture needle is driven to rotate by 360 degrees repeatedly relative to the housing assembly, so as to achieve the suturing of the human tissue, thereby improving operation efficiency. In addition, the movement direction of the control member is at least partially perpendicular to the rotation direction of the rotating body and the arc-shaped suture needle, thereby conveniently observing the suture state of the arc-shaped suture needle and adapting to the suture operation under a flexible or rigid endoscope.

Description

Endoscopic needle drive assembly and suturing device Technical Field

[0001] The present application relates to the field of minimally invasive endoscope technology, and in particular to an endoscopic needle drive assembly and suturing device. Background Art

[0002] With the advancement of medical technology, endoscopic minimally invasive surgery is being used to treat an increasing number of diseases. Endoscopic minimally invasive surgery involves creating small portals through natural orifices or through the body's surface to perform the procedure. This procedure is minimally invasive, offers excellent therapeutic effects, and provides a rapid postoperative recovery. Suturing is a common problem during minimally invasive surgery. A good suturing instrument must be both efficient and safe. Currently, a "C"-shaped stapler is gaining attention in minimally invasive surgical procedures. This stapler drives a "C"-shaped curved needle to thread the needle. This stapler operates within the space required for the curved needle's rotation. Because the operating space required is small, it is not limited by the size of the operating space. The curved needle rotates in a circular motion within the operator's field of view, making the procedure very safe. Currently, these "C"-shaped staplers used in laparoscopic surgery typically utilize a transmission mechanism, such as a connecting rod and dual wheels. Due to the protected nature of this technology, these staplers are expensive, limiting their widespread adoption and promotion, hindering their potential benefits to a wider range of patients. It is worth exploring how to break through the existing technological barriers and allow more patients in need to use this type of device. In addition, unlike surgical laparoscopy, the method of suturing wounds in minimally invasive surgery under flexible endoscopy is relatively simple, mainly using metal endoscopic clips. The strength and reliability of wound suturing using this method are not as good as those using surgical sutures, and its application is limited by the size of the wound and the need for full-thickness suturing. The "C"-type stapler described above has great operational advantages, so it is also worthwhile to develop a "C"-type stapler for use under flexible endoscopy. Currently, there are very few "C"-type staplers for use under flexible endoscopy. These existing technologies are still in a very early stage of development, and the reliability of the suturing effect is uncertain. In addition, the structure is complex, and there are too many parts involved, resulting in low reliability.

[0003] Summary of the Invention

[0004] To achieve the above-mentioned purpose, the present application provides an endoscopic needle drive assembly, which includes: a shell assembly, the shell assembly includes a suture groove and an arc-shaped suture hole arranged along the circumference of the suture groove, and the suture groove is configured to accommodate human tissue; an arc-shaped suture needle, the arc-shaped suture needle is rotatably arranged in the arc-shaped suture hole; a rotating body, the rotating body is rotatably installed in the shell assembly; a drive assembly, the drive assembly is arranged in the shell assembly and connected to the rotating body; a control member, the control member is connected to the drive assembly, the rotation axis of the rotating body is parallel to the extension direction of at least part of the control member, and the control member is configured to cooperate with the drive assembly Driving the rotating body to rotate; a clamping piece, which is connected to the rotating body and can interfere with the arc-shaped suture needle; and a limiting piece, which is arranged in the shell assembly and can interfere with the arc-shaped suture needle; wherein, when the rotating body drives the clamping piece to rotate relative to the shell assembly along a first direction, the clamping piece can interfere with the arc-shaped suture needle, and the limiting piece slides relative to the arc-shaped suture needle; when the rotating body drives the clamping piece to rotate relative to the shell assembly along a second direction, the clamping piece is separated from the arc-shaped suture needle, and the limiting piece can interfere with the arc-shaped suture needle, and the first direction is opposite to the second direction.

[0005] In the endoscopic needle driving assembly as described above, the rotating body is provided with meshing teeth, and the driving assembly cooperates with the meshing teeth.

[0006] The endoscopic needle drive assembly as described above, wherein the drive assembly includes a first gear and a first rotating wheel, the first gear is fixedly connected to the first rotating wheel and is coaxial with the first rotating wheel, and the first gear cooperates with the meshing teeth; a first annular groove and a second annular groove are provided on the first rotating wheel, one end of the control member is fixed in the first annular groove, and the other end of the control member is fixed in the second annular groove and coiled in the second annular groove.

[0007] The endoscopic needle drive assembly as described above, wherein the drive assembly includes two second gears that cooperate with the meshing teeth, and an annular groove is provided on the second gears; one end of the control member is fixed in the annular groove of one second gear, and the other end of the control member is fixed in the annular groove of another second gear and is coiled in the annular groove.

[0008] As described above, the endoscopic needle driving assembly, wherein the driving assembly includes a pulley, and the control member is connected to the rotating body after being turned by the pulley.

[0009] The endoscopic needle driving assembly as described above, wherein the rotating body is a bevel gear.

[0010] As described above, the endoscopic needle drive assembly, wherein the rotating body is a second rotating wheel, and a third annular groove and a fourth annular groove are provided on the second rotating wheel; the number of pulleys is two; wherein one end of the control member is fixed in the third annular groove after being turned by one of the pulleys, and the other end of the control member is fixed in the fourth annular groove after being turned by another pulley, and is coiled in the fourth annular groove.

[0011] As described above, the endoscopic needle drive assembly is provided with an arc-shaped groove on the rotating body, and the arc-shaped groove is coiled on the rotating body. In the axial direction of the rotating body, the arc-shaped groove extends from one end of the rotating body to the other end of the rotating body; the driving assembly includes: a slider, which is connected to the control member and can be slidably installed in the arc-shaped groove.

[0012] The endoscopic needle drive assembly as described above, wherein the drive assembly further includes: a fixed shell, the fixed shell is fixed in the shell assembly, a sliding hole is provided on the fixed shell along the length direction of the fixed shell, part of the slider is located in the fixed shell and can slide in the fixed shell, and the other part of the slider passes through the sliding hole and is inserted into the arc-shaped sliding groove; and a spring, the spring is provided in the fixed shell and supported between the slider and the fixed shell.

[0013] The endoscopic needle driving assembly as described above, wherein the housing assembly comprises: a mounting shell; and a fixed tube, wherein the fixed tube is fixed in the mounting shell, and the rotating body is sleeved on the fixed tube and can rotate relative to the fixed tube.

[0014] As described above, the endoscopic needle driving assembly, wherein the fixing tube comprises a fixing section and a mounting section, the diameter of the mounting section is smaller than the diameter of the fixing section, and the rotating body is fixed to the mounting section.

[0015] As described above, the endoscopic needle driving assembly, wherein the fixed tube includes a tube body and a switching shaft, the rotating body is rotatably mounted on the switching shaft, and the projection of the rotating body on the tube body at most covers a portion of the through hole of the tube body.

[0016] As described above, in the endoscopic needle driving assembly, a side wall of the suture groove is provided with an incision surrounding the side wall, and the incision is communicated with the suture hole.

[0017] The endoscopic needle driving assembly as described above, wherein the rotating body and the arc-shaped suture needle are coaxial.

[0018] In the endoscopic needle driving assembly as described above, there is an angle between the rotation axis of the rotating body and the rotation axis of the arc-shaped suture needle.

[0019] Compared with the existing technology, the above technical solution has the following advantages:

[0020] The operator controls the rotation of the rotating body through the cooperation of the control member and the driving assembly, and the rotating body drives the clamping member to rotate relative to the housing assembly along the first direction or the second direction; when the clamping member is controlled to move from the initial position along the first direction, the clamping member interferes with the arc-shaped suture needle, and the limiting member slides relative to the arc-shaped suture needle, so that the clamping member drives the arc-shaped suture needle to rotate 180 degrees relative to the housing assembly, so that the arc-shaped suture needle passes through the human tissue; when the clamping member moves to the end position, the clamping member is controlled to move along the second direction, the limiting member interferes with the arc-shaped suture needle, and the clamping member is separated from the arc-shaped suture needle, so that the clamping member returns to the initial position, and the above operation is repeated to make the arc-shaped suture needle rotate one circle relative to the housing assembly, so that the arc-shaped suture needle passes through the human tissue, and so on, so that the arc-shaped suture needle rotates one circle relative to the housing assembly multiple times. To complete the suturing of human tissue; the above structure is reasonably designed, compact and easy to use. Through the cooperation between the rotating body, the drive assembly, the control part, the clamping part and the limit part, the arc suturing needle is driven to rotate 360° repeatedly relative to the shell assembly to achieve the suturing of human tissue, thereby improving the efficiency of the surgical operation; in addition, the movement direction of the control part is at least partially perpendicular to the rotation direction of the rotating body and the arc suturing needle, which is convenient for observing the suturing state of the arc suturing needle and adapting to the suturing operation under soft or hard endoscopes. In addition, the rotating body itself and the main structure have a unique spatial position and cooperation relationship. For example, the rotation axis of the rotating body and the arc suturing needle is at least partially parallel to the direction of pushing or pulling of the control part. Based on the above characteristics, this technical solution can not only be used under surgical laparoscopy, but can also be installed on a soft endoscope for use, and has a wider range of application scenarios. In addition, the structural design of this technical solution is simple and compact. It does not involve complex small precision parts, which reduces the manufacturing process.

[0021] An embodiment of the second aspect of the present application provides a suturing device, including a suture, an endoscope and the above-mentioned endoscopic needle-driving assembly, wherein the suture is connected to the arc-shaped suturing needle of the endoscopic needle-driving assembly, and the endoscope is connected to the fixed tube sleeve of the endoscopic needle-driving assembly.

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

[0023] This technical solution has the effect characteristics of the existing "C" type stapler, and at the same time, it also has unique advantages. This technical solution is mainly implemented by the cooperation between the rotating body, the drive assembly, the control part, the clamping part and the limit part. Different from the existing technology of the surgical laparoscopic "C" type stapler, the rotating body itself and the main structure have a unique spatial position and cooperation relationship. For example, the rotation axis of the rotating body and the arc-shaped suture needle are at least partially parallel to the direction of pushing or pulling of the control part. Based on the above characteristics, this technical solution can not only be used under surgical laparoscopy, but can also be installed on a flexible endoscope for use, and has a wider range of application scenarios. In addition, the structural design of this technical solution is simple and compact, and it does not involve complex tiny precision parts, which reduces the manufacturing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following figures are intended only to illustrate and explain the present application and are not intended to limit the scope of the present application.

[0025] FIG1 is a schematic diagram of the structure and basic principle of the endoscopic needle drive assembly described in the present application;

[0026] FIG2 is a schematic structural diagram of a first embodiment of an endoscopic needle driving assembly described in the present application;

[0027] FIG3 is a schematic cross-sectional view of the endoscopic needle drive assembly shown in FIG2 ;

[0028] FIG4 a is a schematic diagram of the exploded structure of the endoscopic needle driving assembly shown in FIG2 ;

[0029] FIG4b is an enlarged structural diagram of portion A in FIG4a;

[0030] FIG5 is a schematic structural diagram of the endoscopic needle drive assembly shown in FIG2 in a first state when suturing human tissue;

[0031] FIG6 is a partial cross-sectional structural view of the clamping member in FIG5 in a first state;

[0032] FIG7 is a schematic structural diagram of the endoscopic needle drive assembly shown in FIG2 in a second state when suturing human tissue;

[0033] FIG8 is a partial cross-sectional structural view of the clamping member in FIG7 in a second state;

[0034] FIG9 is a schematic structural diagram of the clamping member in a third state when the endoscopic needle drive assembly shown in FIG2 is suturing human tissue;

[0035] 10 is a schematic structural diagram of the clamping member in a fourth state when the endoscopic needle drive assembly shown in FIG. 2 is suturing human tissue;

[0036] 11 is a schematic structural diagram of the clamping member in the fifth state when the endoscopic needle drive assembly shown in FIG. 2 is suturing human tissue;

[0037] FIG12 is a schematic structural diagram of the engagement between the clip and the rotating body shown in FIG2 ;

[0038] FIG13 is a schematic structural diagram of the drive assembly shown in FIG2 ;

[0039] FIG14 is a cross-sectional view of the second embodiment (tapered gear transmission) of the endoscopic needle drive assembly described in the present application;

[0040] FIG15 is a cross-sectional structural diagram of a third embodiment of an endoscopic needle driving assembly according to the present application;

[0041] FIG16 is a schematic structural diagram of a fourth embodiment of an endoscopic needle driving assembly according to the present application;

[0042] FIG17 is a schematic cross-sectional view of the endoscopic needle drive assembly shown in FIG16 ;

[0043] FIG18 is a schematic diagram of the exploded structure of the endoscopic needle drive assembly shown in FIG16;

[0044] FIG19 is a schematic structural diagram of the drive assembly shown in FIG16;

[0045] FIG20 is a schematic structural diagram of a fifth embodiment of an endoscopic needle drive assembly according to the present application;

[0046] FIG21 is a schematic cross-sectional view of the endoscopic needle drive assembly shown in FIG20 ;

[0047] FIG22 is a schematic diagram of the exploded structure of the endoscopic needle drive assembly shown in FIG20 ;

[0048] FIG23 is a schematic structural diagram of a sixth embodiment of an endoscopic needle driving assembly according to the present application;

[0049] FIG24 is a schematic cross-sectional view of the endoscopic needle drive assembly shown in FIG23;

[0050] FIG25 is a schematic diagram of the exploded structure of the endoscopic needle drive assembly shown in FIG23 .

[0051] Description of Figure Numbers:

[0052] 10. Housing assembly; 11. Mounting housing; 111. Main body; 112. Top cover; 12. Fixing tube; 121. Fixing section; 122. Mounting section; 123. Tube body; 124. Adapter shaft; 13. Arc-shaped suture hole; 14. Incision; 15. Avoidance notch; 16. Suture groove; 17. Avoidance groove;

[0053] 20. Curved suture needle; 21. Connecting hole; 22. Connecting piece; 23. Card slot;

[0054] 30. Rotating body; 31. Meshing teeth; 32. Second rotating wheel; 33. Arc-shaped slide groove;

[0055] 40. Drive assembly; 41. First gear; 42. First rotating wheel; 421. First annular groove; 422. Second annular groove; 43. Second gear; 431. Annular groove; 44. Pulley; 45. Slider; 46. Fixed housing; 47. Spring;

[0056] 50. Control parts;

[0057] 60. Connecting piece; 61. Connecting shell; 62. Limiting rod; 63. Support spring;

[0058] 70. Limiting member; 71. First piece; 72. Second piece;

[0059] 80. Fixed ring;

[0060] 100. Endoscopic needle drive assembly;

[0061] 200, suture;

[0062] 300. Endoscope. DETAILED DESCRIPTION

[0063] The present application will be further described in detail below through the accompanying drawings and examples, through which the features and advantages of the present application will become more clear and distinct.

[0064] The word "exemplary" is used exclusively herein to mean "serving as an example, example, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0065] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The following discussion provides multiple embodiments of the present application. Although each embodiment represents a single combination of the application, the different embodiments of the present application can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment contains A, B, C, and another embodiment contains a combination of B and D, then the present application should also be considered to include an embodiment containing one or more of all other possible combinations of A, B, C, D, although the embodiment may not be clearly recorded in the following text. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0066] As shown in Figure 1, the endoscopic needle driver assembly 100 primarily comprises a housing assembly 10, an arcuate suturing needle 20, a rotating body 30, a drive assembly 40, a control unit 50, and a coupling 60. This simplified diagram illustrates the basic principles and methods for implementing this technical solution. This solution can be used as a "C"-shaped suturing instrument for rigid laparoscopic surgery. In this case, the endoscopic needle driver assembly is connected to a short rigid cannula with an operating handle, becoming a standalone instrument. Alternatively, the endoscopic needle driver assembly can be mounted on a long, flexible endoscope for suturing operations.

[0067] As shown in Figures 1, 2 to 4b, 16 to 20, 20 to 24, and 23 to 25, the endoscopic needle drive assembly 100 provided in an embodiment of the first aspect of the present application includes: a shell assembly 10, an arc-shaped suture needle 20, a rotating body 30, a drive assembly 40, a control part 50, a clamping part 60, and a limiting part 70.

[0068] The housing assembly 10 includes a suture slot 16 and arc-shaped suture holes 13 arranged along the circumference of the suture slot 16 . The suture slot 16 is configured to accommodate human tissue. In one embodiment of the application, the housing assembly 10 includes a mounting shell 11 and a fixing tube 12 .

[0069] The mounting housing 11 has a receiving cavity and includes opposing top and bottom plates, and side panels disposed therebetween. The top plate is provided with a mounting hole for the endoscope 300 to pass through, the bottom plate is provided with a suture groove 16, and arcuate suture holes 13 are arranged along the circumference of the suture groove 16. The side panels are provided with avoidance notches 15 communicating with the suture groove 16. The suture groove 16 is configured to accommodate human tissue. In one embodiment of the present application, the mounting housing 11 may be a split structure, comprising a body 111 and a top cover 112.

[0070] The fixed tube 12 is fixed in the mounting shell 11 , and the rotating body 30 is sleeved on the fixed tube 12 and can rotate relative to the fixed tube 12 . The fixed tube 12 can be sleeved on the front end of the endoscope 300 .

[0071] The arcuate suture needle 20 is rotatably disposed in the arcuate suture hole 13 .

[0072] The rotating body 30 is rotatably mounted in the housing assembly 10 . In a specific embodiment of the present application, the rotating body 30 is fixed to the fixed pipe 12 via a fixing ring 80 .

[0073] The driving assembly 40 is disposed in the housing assembly 10 and connected to the rotating body 30 .

[0074] The control member 50 is connected to the drive assembly 40. The rotation axis of the rotating body 30 is parallel to the extension direction of at least a portion of the control member 50. The control member 50 is configured to cooperate with the drive assembly 40 to drive the rotating body 30 to rotate. The control member 50 can be flexible or rigid. Those skilled in the art can select the appropriate control member 50 according to specific requirements.

[0075] The clamping member 60 is connected to the rotating body 30 and can interfere with the arc-shaped suture needle 20 .

[0076] The limiting member 70 is disposed in the housing assembly 10 and is capable of interfering with the arc-shaped suture needle 20 .

[0077] Among them, when the rotating body 30 drives the clamping member 60 to rotate relative to the shell assembly 10 along the first direction, the clamping member 60 can interfere with the arc-shaped suture needle 20, and the limiting member 70 slides relative to the arc-shaped suture needle 20; when the rotating body 30 drives the clamping member 60 to rotate relative to the shell assembly 10 along the second direction, the clamping member 60 is separated from the arc-shaped suture needle 20, and the limiting member 70 can interfere with the arc-shaped suture needle 20, and the first direction is opposite to the second direction.

[0078] In the endoscopic needle driving assembly 100 provided in the present application, the operator controls the rotation of the rotating body 30 through the cooperation of the control member 50 and the driving assembly 40, and the rotating body 30 drives the clamping member 60 to rotate relative to the shell assembly 10 along the first direction or the second direction; when the clamping member 60 is controlled to move from the initial position along the first direction, the clamping member 60 interferes with the arc-shaped suture needle 20, and the limiting member 70 slides relative to the arc-shaped suture needle 20, so that the clamping member 60 drives the arc-shaped suture needle 20 to rotate 180° relative to the shell assembly 10, so that the arc-shaped suture needle 20 passes through the human tissue; when the clamping member 60 moves to the end position, the clamping member 60 is controlled to move along the second direction, the limiting member 70 interferes with the arc-shaped suture needle 20, and the clamping member 60 is separated from the arc-shaped suture needle 20, so that the clamping member 60 returns to the initial position. The arcuate suture needle 20 is rotated one circle relative to the housing assembly 10 to allow the arcuate suture needle 20 to pass through the human tissue. By analogy, the arcuate suture needle 20 is rotated one circle relative to the housing assembly 10 multiple times to complete the suturing of the human tissue. The above-mentioned structural design is simple and reasonable, compact, and does not have many micro-precision parts, which reduces the difficulty of processing. Through the cooperation between the rotating body 30, the driving assembly 40, the control component 50, the clamping component 60 and the limiting component 70, the arcuate suture needle 20 is driven to repeatedly rotate 360° relative to the housing assembly 10 to achieve the suturing of the human tissue. The operation is simple, not limited by the narrow operating space, and will not damage the surrounding human tissue and organs during the rotation of the suture needle, thereby greatly improving the efficiency and safety of the operation.

[0079] In addition, since the rotation axis of the rotating body 30 and the arc-shaped suture needle 20 is at least partially parallel to the longitudinal axis of the long distal end of the flexible soft endoscope, the endoscopic needle driving assembly 100 will not completely block the working channel outlet and light source at the front end of the endoscope, making it convenient for the operator to extend other endoscopic accessories from the working channel and perform surgical operations, while being able to observe the suturing status of the arc-shaped suture needle 20 and human tissue in real time.

[0080] As shown in FIG. 4 a , FIG. 4 b , FIG. 18 , FIG. 22 and FIG. 25 , in one embodiment of the present application, a side wall of the suture groove 16 is provided with an incision 14 surrounding the side wall, and the incision 14 is communicated with the suture hole.

[0081] After the arc-shaped suture needle 20 rotates one circle under the action of the rotating body 30, the driving assembly 40, the control part 50, the clamping part 60 and the limiting part 70, as the arc-shaped suture needle 20 rotates, the suture 200 connected to the arc-shaped suture needle 20 also passes through the human tissue. During this process, the suture 200 slides out of the arc-shaped suture hole 13 from the incision 14, which prevents the suture 200 from being entangled on the shell assembly 10.

[0082] As shown in FIG. 3 , FIG. 14 , FIG. 21 and FIG. 24 , in one embodiment of the present application, the rotating body 30 is coaxial with the arc-shaped suture needle 20 .

[0083] The above structure makes the rotation angle of the rotating body 30 and the arc-shaped suture needle 20 the same. By controlling the rotation angle of the rotating body 30, the rotation angle of the arc-shaped suture needle 20 can be controlled, so that the rotation of the rotating body 30 can be accurately transmitted to the arc-shaped suture needle 20, so that the arc-shaped suture needle 20 rotates along a standard circle, thereby improving the accuracy and reliability of suturing.

[0084] As shown in FIG. 15 , in one embodiment of the present application, an angle is formed between the rotation axis of the rotating body 30 and the rotation axis of the arc-shaped suture needle 20 .

[0085] The above structure causes the curved suture needle 20 to be tilted at a certain angle relative to the rotating body 30, so that the suture groove 16 matches the field of view and working channel of the endoscope. During the process of suturing human tissue, the curved suture needle 20 can easily pass through the curved suture hole 13 and accurately penetrate the human tissue. At the same time, the operator can observe the state of the curved suture needle and human tissue suturing in real time through the endoscope's field of view. In this embodiment, the rotating body 30 and the curved suture needle 20 are projected coaxially on a plane parallel to the rotating body 30; the rotating body 30 and the curved suture needle 20 rotate at the same angle, thereby accurately driving the suture needle to rotate.

[0086] As shown in FIG. 12 , in one embodiment of the present application, the clamping member 60 includes: a connecting shell 61 , a limiting rod 62 and a supporting spring 63 .

[0087] The connecting housing 61 is fixed to the rotating body 30 .

[0088] One end of the limiting rod 62 is inserted into the connecting shell 61 , and the other end of the limiting rod 62 protrudes from the connecting shell 61 and can interfere with the clamping structure on the arc-shaped suture needle 20 .

[0089] The support spring 63 is supported between the limiting rod 62 and the connecting shell 61. Specifically, a support platform is provided on the limiting rod 62 along its circumference, and the support spring 63 is sleeved on the limiting rod 62 and supported between the support platform and the connecting shell 61.

[0090] When the clamping member 60 is controlled to move in a first direction from its initial position, the support spring 63 causes the other end of the limiting rod 62 to protrude from the connection housing 61 and interfere with the clamping surface of the clamping structure, causing the clamping member 60 to drive the arcuate suture needle 20 to rotate a certain distance relative to the housing assembly 10. When the clamping member 60 is controlled to move in a second direction, the limiting rod 62 compresses the support spring 63 along the guide surface of the clamping structure, separating the clamping member 60 from the clamping structure, thereby returning the clamping member 60 to its initial position. The clamping member 60 has a simple structure and is easy to manufacture, thereby reducing the production cost of the product.

[0091] As shown in Figures 4a, 18, 22, and 25, in one embodiment of the present application, the limiting member 70 is a spring, which includes a first piece 71 and a second piece 72 connected to each other. The first piece 71 is connected to the housing assembly 10, and the second piece 72 presses against the arc-shaped suture needle 20. In addition, as shown in Figures 6, 8 to 11, the housing assembly 10 is further provided with an avoidance groove 17, which provides space for the deformation of the spring.

[0092] When the control clamp 60 moves in the second direction, the spring piece presses against the limiting surface of the limiting structure, preventing the arcuate suture needle 20 from retreating. When the control clamp 60 moves in the first direction, the spring piece moves along the inclined surface of the limiting structure, causing the spring piece to deform, thereby causing the spring piece to slide relative to the arcuate suture needle 20.

[0093] In a specific embodiment of the application, a first inclined surface is provided on the outer surface of one end of the side panel connected to the bottom panel.

[0094] When the endoscopic needle driving assembly enters a narrow space, the first inclined surface plays a guiding role, so that the endoscopic needle driving assembly enters the narrow space more smoothly, thereby improving the safety and convenience of the product.

[0095] In a specific embodiment of the application, a second inclined surface is provided on the outer surface of the top plate so that the top plate is in a truncated cone shape.

[0096] The above structure makes the top of the mounting shell rounded and blunt, thereby preventing the mounting shell from scratching human tissue, thereby ensuring the safety of product use.

[0097] Several embodiments of the endoscopic needle driving assembly are described in detail below with reference to the accompanying drawings.

[0098] Example 1

[0099] As shown in Figures 2 to 4b, the endoscopic needle driving assembly 100 includes: a housing assembly 10, an arc-shaped suture needle 20, a rotating body 30, a driving assembly 40, a control member 50, a clamping member 60, and a limiting member 70. Specifically, the control member 50 is a cable.

[0100] The housing assembly 10 includes a mounting shell 11 and a fixing tube 12 .

[0101] The fixed tube 12 is fixed in the mounting shell 11 , and the rotating body 30 is sleeved on the fixed tube 12 and can rotate relative to the fixed tube 12 .

[0102] The fixed tube 12 includes a tube body 123 and an adapter shaft 124. The rotating body 30 is rotatably mounted on the adapter shaft 124. The projection of the rotating body 30 on the tube body 123 covers at most part of the through hole of the tube body 123. Specifically, the adapter shaft 124 is located on the side of the tube body 123 away from the suture groove 16. The above structure avoids the situation where the rotating body 30 mounted on the adapter shaft 124 completely blocks all the through holes, so that the endoscope 300 can observe the state of the arc-shaped suture needle 20 and human tissue sutured through the through hole, and facilitates the extension of endoscopic surgical accessories from the working channel of the endoscope 300. In addition, the rotating body 30 is fixed on the adapter shaft 124, rather than being mounted on the outer periphery of the head end of the endoscope 300, so that the overall outer diameter of the endoscopic needle drive assembly 100 can be smaller, thereby reducing the operating space required for the endoscopic needle drive assembly 100 and making operation more convenient.

[0103] The rotating body 30 is provided with meshing teeth 31 , and the driving assembly 40 cooperates with the meshing teeth 31 .

[0104] The driving assembly 40 includes a first gear 41 and a first rotating wheel 42 . The first gear 41 is fixedly connected to the first rotating wheel 42 and is coaxial with the first rotating wheel 42 . The first gear 41 cooperates with the meshing teeth 31 .

[0105] As shown in FIG13 , the first rotating wheel 42 is provided with a first annular groove 421 and a second annular groove 422. One end of the control member 50 is fixed in the first annular groove 421, and the other end of the control member 50 is fixed in the second annular groove 422 and coiled in the second annular groove 422. As shown in FIG14 , in a specific embodiment of the present application, the rotating body 30 is a bevel gear, that is, the rotating body 30 and the first gear 41 are connected by a bevel gear transmission.

[0106] The above structure adopts a gear transmission mode, which has a long service life, stable operation and high reliability, thereby ensuring the effective driving of the clamping member 60 and improving the reliability of the product.

[0107] As shown in FIG5 to FIG11, the working process of the endoscopic needle driving assembly 100 is as follows:

[0108] The operator pulls the control member 50 in the forward direction, and the other end of the control member 50 is coiled around the part of the second annular groove 422 and rewound, and one end of the control member 50 is coiled on the first annular groove 421 to rotate the first rotating wheel 42, thereby driving the first gear 41 to rotate, and the first gear 41 drives the rotating body 30 to rotate, and the rotating body 30 drives the clamping member 60 to rotate from the initial position in the first direction, and the clamping member 60 interferes with the arcuate suture needle 20, and the limit member 70 slides relative to the arcuate suture needle 20, so that the clamping member 60 drives the arcuate suture needle 20 to rotate 180 degrees relative to the housing assembly 10, so that the arcuate suture needle 20 passes through the human tissue; when the clamping member 60 reaches the end position of the movement, the control member 50 is pulled in the reverse direction, and one end of the control member 50 The end of the control member 50 is partially wound around the first annular groove 421, and the other end of the control member 50 is wound around the second annular groove 422 to rotate the first rotating wheel 42, thereby driving the first gear 41 to rotate, the first gear 41 drives the rotating body 30 to rotate, and the rotating body 30 drives the clamping member 60 to move along the second direction. The limit member 70 interferes with the arc-shaped suture needle 20, and the clamping member 60 is separated from the arc-shaped suture needle 20 to return the clamping member 60 to the initial position. Repeat the above operation to rotate the arc-shaped suture needle 20 360° relative to the shell assembly 10 so that the arc-shaped suture needle 20 passes through the human tissue. By analogy, the arc-shaped suture needle 20 is repeatedly rotated 360° relative to the shell assembly 10 to complete the suturing of the human tissue.

[0109] Example 2

[0110] As shown in Figures 16 to 19, the endoscopic needle driving assembly 100 includes: a housing assembly 10, an arc-shaped suture needle 20, a rotating body 30, a driving assembly 40, a control member 50, a clamping member 60, and a limiting member 70. Specifically, the control member 50 is a cable.

[0111] The housing assembly 10 includes a mounting shell 11 and a fixing tube 12 .

[0112] The fixed tube 12 is fixed within the mounting housing 11, and the rotating body 30 is sleeved on the fixed tube 12 and can rotate relative to the fixed tube 12. Since the front end of the fixed tube 12 is unobstructed, the rotating body 30 is located outside the field of view, which increases the field of view of the endoscope 300. This allows the endoscope 300 to more effectively observe the state of the curved suture needle 20 and human tissue suturing through the through hole of the fixed tube 12, and provides more operating space for endoscopic surgical accessories after they extend from the working channel of the endoscope 300.

[0113] The rotating body 30 is provided with meshing teeth 31 , and the driving assembly 40 cooperates with the meshing teeth 31 .

[0114] In one embodiment of the present application, the drive assembly 40 includes two second gears 43 that cooperate with the meshing teeth 31. As shown in FIG19 , the second gears 43 are provided with an annular groove 431. Specifically, the two second gears 43 are symmetrically arranged on both sides of the fixed tube 12.

[0115] One end of the control member 50 is fixed in an annular groove 431 of a second gear 43 , and the other end of the control member 50 is fixed in an annular groove 431 of another second gear 43 and coiled in the annular groove 431 .

[0116] The above structure adopts a gear transmission mode, which has a long service life, stable operation and high reliability, thereby ensuring the effective driving of the clamping member 60 and improving the reliability of the product.

[0117] The working process of the endoscopic needle driving assembly 100 is as follows:

[0118] The operator pulls the control member 50 in the forward direction, and the other end of the control member 50 is coiled around the part in the annular groove 431 of the other second gear 43 to rotate the second gear 43, and the other second gear 43 drives the rotating body 30 to rotate, and the rotating body 30 drives the clamping member 60 to rotate from the initial position in the first direction, and the clamping member 60 interferes with the arc-shaped suture needle 20. The limit member 70 slides relative to the arc-shaped suture needle 20, so that the clamping member 60 drives the arc-shaped suture needle 20 to rotate 180 degrees relative to the housing assembly 10, so that the arc-shaped suture needle 20 passes through the human tissue. In this process, the rotating body 30 drives a second gear 43 to rotate, and one end of the control member 50 is coiled in the annular groove 431 of the second gear 43; when the clamping member 60 reaches the end position of the movement, the control member 50 is pulled in the reverse direction, and one end of the control member 50 The end of the control member 50 is wound around the part of the annular groove 431 of the second gear 43 to rotate the second gear 43, and the second gear 43 drives the rotating body 30 to rotate, and the rotating body 30 drives the clamping member 60 to move along the second direction. The limit member 70 interferes with the arcuate suture needle 20, and the clamping member 60 is separated from the arcuate suture needle 20 to return the clamping member 60 to the initial position. During this process, the rotating body 30 drives another second gear 43 to rotate, and the other end of the control member 50 is wound around the annular groove 431 of the other second gear 43; repeat the above operation to make the arcuate suture needle 20 rotate 360° relative to the housing assembly 10 so that the arcuate suture needle 20 passes through the human tissue, and so on, the arcuate suture needle 20 is repeatedly rotated 360° relative to the housing assembly 10 to complete the suturing of the human tissue.

[0119] Example 3

[0120] As shown in Figures 20 to 22, the endoscopic needle driving assembly 100 includes: a housing assembly 10, an arc-shaped suture needle 20, a rotating body 30, a driving assembly 40, a control member 50, a clamping member 60, and a limiting member 70. Specifically, the control member 50 is a cable.

[0121] The housing assembly 10 includes a mounting shell 11 and a fixing tube 12 .

[0122] The fixed tube 12 is fixed in the mounting shell 11 , and the rotating body 30 is sleeved on the fixed tube 12 and can rotate relative to the fixed tube 12 .

[0123] The fixed tube 12 includes a fixed section 121 and a mounting section 122. The diameter of the mounting section 122 is smaller than that of the fixed section 121. The rotating body 30 is fixed to the mounting section 122. This allows the endoscope 300 to observe the state of the curved suture needle 20 and the human tissue being sutured through the through hole of the mounting section 122. In addition, the fixing of the rotating body 30 to the mounting section 122 reduces the space occupied by the rotating body 30, thereby making the endoscopic needle driving assembly 100 smaller in size.

[0124] The driving assembly 40 includes a pulley 44. The control member 50 is connected to the rotating body 30 after being turned by the pulley 44. Specifically, there are two pulleys 44.

[0125] The rotating body 30 is a second rotating wheel 32 , and a third annular groove and a fourth annular groove are provided on the second rotating wheel 32 .

[0126] One end of the control member 50 is fixed in the third annular groove after being turned by a pulley 44, and the other end of the control member 50 is fixed in the fourth annular groove after being turned by another pulley 44 and is coiled in the fourth annular groove.

[0127] The above structure has a long service life, stable operation, high reliability and simple structure, thereby ensuring the effective driving of the clamping member 60 and improving the reliability of the product.

[0128] The working process of the endoscopic needle driving assembly 100 is as follows:

[0129] The operator pulls the control member 50 in the forward direction, and the other end of the control member 50 is wound around the portion of the fourth annular groove, and one end of the control member 50 is wound around the third annular groove, so that the second rotating wheel 32 rotates, thereby driving the clamping member 60 to rotate from the initial position along the first direction. The clamping member 60 interferes with the arcuate suture needle 20, and the limit member 70 slides relative to the arcuate suture needle 20, so that the clamping member 60 drives the arcuate suture needle 20 to rotate 180 degrees relative to the housing assembly 10, so that the arcuate suture needle 20 passes through the human tissue; when After the clamping member 60 moves to the end position, the control member 50 is pulled in the reverse direction, one end of the control member 50 is coiled around the part of the third annular groove, and the other end of the control member 50 is coiled around the fourth annular groove, so that the second rotating wheel 32 rotates, thereby driving the clamping member 60 to move along the second direction, the limiting member 70 interferes with the arc-shaped suture needle 20, and the clamping member 60 is separated from the arc-shaped suture needle 20 to return the clamping member 60 to the initial position, and the above operation is repeated to rotate the arc-shaped suture needle 20 360° relative to the housing assembly 10 so that the arc-shaped suture needle 20 passes through the human tissue, and so on, the arc-shaped suture needle 20 is repeatedly rotated 360° relative to the housing assembly 10 to complete the suturing of the human tissue.

[0130] Example 4

[0131] As shown in Figures 23 to 25, the endoscopic needle drive assembly 100 includes: a housing assembly 10, an arcuate suture needle 20, a rotating body 30, a driving assembly 40, a control member 50, a clamping member 60, and a limit member 70. Specifically, the control member 50 is a push-pull member with a certain hardness or a flexible cable.

[0132] The housing assembly 10 includes a mounting shell 11 and a fixing tube 12 .

[0133] The fixed tube 12 is fixed within the mounting housing 11, and the rotating body 30 is sleeved on the fixed tube 12 and can rotate relative to the fixed tube 12. Since the front end of the fixed tube 12 is not blocked, the rotating body 30 is located outside the field of view, which increases the field of view of the endoscope 300. This allows the endoscope 300 to more effectively observe the state of the curved suture needle 20 and the human tissue being sutured through the through hole of the fixed tube 12, and provides more operating space for endoscopic surgical accessories after they extend from the working channel of the endoscope 300.

[0134] An arcuate chute 33 is provided on the rotating body 30 . The arcuate chute 33 is coiled around the rotating body 30 . In the axial direction of the rotating body 30 , the arcuate chute 33 extends from one end of the rotating body 30 to the other end of the rotating body 30 .

[0135] The driving assembly 40 includes a fixed housing 46 , a slider 45 and a spring 47 .

[0136] The fixed shell 46 is fixed in the housing assembly 10 , and a sliding hole is provided on the fixed shell 46 along the length direction of the fixed shell 46 .

[0137] The slider 45 is connected to the control member 50 and is slidably installed in the arcuate chute 33. Specifically, part of the slider 45 is located in the fixed shell 46 and can slide in the fixed shell 46, and the other part of the slider 45 is inserted into the arcuate chute 33 through the slide hole.

[0138] The spring 47 is disposed in the fixed housing 46 and supported between the slider 45 and the fixed housing 46 .

[0139] The above structure has a long service life, stable operation and high reliability, thereby ensuring the effective driving of the clamping member 60 and improving the reliability of the product.

[0140] The working process of the endoscopic needle driving assembly 100 is as follows:

[0141] The operator pulls the control member 50, which compresses the spring 47. At this time, the spring 47 stores force, and the control member 50 drives the slider 45 to slide in the positive direction in the arc-shaped slot 33, so that the rotating body 30 rotates, thereby driving the clamping member 60 to rotate from the initial position along the first direction. The clamping member 60 interferes with the arc-shaped suture needle 20, and the limit member 70 slides relative to the arc-shaped suture needle 20, so that the clamping member 60 drives the arc-shaped suture needle 20 to rotate 180 degrees relative to the housing assembly 10, so that the arc-shaped suture needle 20 passes through the human tissue; when the clamping member 60 reaches the end position of the movement, the tension applied to the control member 50 is removed, and under the action of the elastic force of the spring 47 or The operator pushes the control member 50 at the same time, and the control member 50 is driven to restore. The control member 50 drives the slider 45 to slide in the reverse direction in the arc-shaped slide groove 33 to rotate the rotating body 30, thereby driving the clamping member 60 to move in the second direction. The limit member 70 interferes with the arc-shaped suture needle 20, and the clamping member 60 is separated from the arc-shaped suture needle 20 to return the clamping member 60 to the initial position. Repeat the above operation to make the arc-shaped suture needle 20 rotate one circle relative to the shell assembly 10 so that the arc-shaped suture needle 20 passes through the human tissue. By analogy, the arc-shaped suture needle 20 repeatedly performs circumferential rotation relative to the shell assembly 10 to complete the suturing of the human tissue.

[0142] As shown in Figures 2 to 4a, Figures 16 to 18, Figures 20 to 22, and Figures 23 to 25, a suturing device of an embodiment of the second aspect of the present application includes a suture 200, an endoscope 300 and the above-mentioned endoscopic needle-driving assembly 100, the suture 200 is connected to the arc-shaped suturing needle 20 of the endoscopic needle-driving assembly 100, and the endoscope 300 is sleeve-connected to the fixed tube 12 of the endoscopic needle-driving assembly 100.

[0143] The suturing device provided in the present application has a reasonable structural design, a compact structure, simple operation, and is easy to use. It can also achieve continuous suturing of human tissue, greatly reducing the difficulty of surgical operation, thereby improving the market competitiveness of the product.

[0144] Based on the basic principle and method of the technical solution as shown in Figure 1, the present application proposes four representative specific embodiments. It should be understood that based on the principle and method of this technology, various alternatives, modifications, variations, or improvements can be implemented by those skilled in the art, and these technical solutions should all be included in the present disclosure. In particular, the structure of the drive assembly and the rotating body and the matching relationship between the two, in addition to the four solutions proposed in this application, all technical solutions that can be implemented in this field are included in the present disclosure. In addition, based on the principle and method of this technology, the four specific solutions proposed in this application and other technical solutions that can be implemented by those skilled in the art can be used in soft endoscopic suturing instruments, and can also be used in rigid endoscopic suturing instruments for surgical laparoscopy. These technical solutions should all be included in the present disclosure.

[0145] In the description of this application, it should be noted that the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0146] In the description of this application, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. The term "plurality" refers to two or more, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0147] The present application has been described above in conjunction with preferred embodiments, but these embodiments are merely exemplary and serve only as an illustrative example. On this basis, various replacements and improvements can be made to the present application, all of which fall within the scope of protection of the present application.

Claims

1. An endoscopic needle drive assembly, characterized in that: The endoscopic needle driving assembly comprises: A housing component, the housing component comprising a suture groove and an arc-shaped suture hole arranged along the circumference of the suture groove, wherein the suture groove is configured to accommodate human tissue; An arcuate suture needle, the arcuate suture needle being rotatably disposed in the arcuate suture hole; a rotating body, the rotating body being rotatably mounted in the housing assembly; A driving assembly, the driving assembly is disposed in the housing assembly and connected to the rotating body; A control member, the control member is connected to the driving assembly, the rotation axis of the rotating body is parallel to the extension direction of at least part of the control member, and the control member is configured to cooperate with the driving assembly to drive the rotating body to rotate; a clamping member connected to the rotating body and capable of interfering with the arc-shaped suture needle; and A limiting member, the limiting member is disposed in the housing assembly and is capable of interfering with the arc-shaped suture needle; When the rotating body drives the clamping part to rotate relative to the shell assembly along a first direction, the clamping part can interfere with the arcuate suture needle, and the limiting part slides relative to the arcuate suture needle; when the rotating body drives the clamping part to rotate relative to the shell assembly along a second direction, the clamping part is separated from the arcuate suture needle, and the limiting part can interfere with the arcuate suture needle, and the first direction is opposite to the second direction.

2. The endoscopic needle driving assembly according to claim 1, characterized in that: The rotating body is provided with meshing teeth, and the driving assembly cooperates with the meshing teeth.

3. The endoscopic needle driving assembly according to claim 2, characterized in that: The driving assembly includes a first gear and a first rotating wheel, the first gear is fixedly connected to the first rotating wheel and is coaxial with the first rotating wheel, and the first gear is matched with the meshing teeth; The first rotating wheel is provided with a first annular groove and a second annular groove, one end of the control member is fixed in the first annular groove, and the other end of the control member is fixed in the second annular groove and coiled in the second annular groove.

4. The endoscopic needle driving assembly according to claim 2, characterized in that: The driving assembly comprises two second gears matched with the meshing teeth, and the second gears are provided with an annular groove; One end of the control member is fixed in an annular groove of one of the second gears, and the other end of the control member is fixed in an annular groove of another of the second gears and is coiled in the annular groove.

5. The endoscopic needle driving assembly according to claim 2, characterized in that: The rotating body is a bevel gear.

6. The endoscopic needle driving assembly according to claim 1, characterized in that: The driving assembly comprises a pulley, and the control member is connected to the rotating body after being turned by the pulley.

7. The endoscopic needle driving assembly according to claim 6, characterized in that: The rotating body is a second rotating wheel, and the second rotating wheel is provided with a third annular groove and a fourth annular groove; The number of pulleys is two; One end of the control member is fixed in the third annular groove after being turned by one of the pulleys, and the other end of the control member is fixed in the fourth annular groove after being turned by another pulley and is coiled in the fourth annular groove.

8. The endoscopic needle driving assembly according to claim 1, characterized in that: The rotating body is provided with an arc-shaped slide groove, which is coiled on the rotating body and extends from one end of the rotating body to the other end of the rotating body in the axial direction of the rotating body; The driving assembly comprises a slider, which is connected to the control member and slidably installed in the arc-shaped slide groove.

9. The endoscopic needle driving assembly according to claim 8, characterized in that: The driving assembly further includes: a fixed shell, the fixed shell being fixed in the housing assembly, a sliding hole being provided on the fixed shell along the length direction of the fixed shell, a portion of the sliding block being located in the fixed shell and being able to slide in the fixed shell, and another portion of the sliding block passing through the sliding hole and inserted into the arc-shaped sliding groove; and A spring is arranged in the fixed shell and supported between the slider and the fixed shell.

10. The endoscopic needle driving assembly according to any one of claims 1 to 9, characterized in that: The housing assembly comprises: a mounting shell; and A fixed tube is fixed in the mounting shell, and the rotating body is sleeved on the fixed tube and can rotate relative to the fixed tube.

11. The endoscopic needle driving assembly according to claim 10, characterized in that: The fixed pipe comprises a fixed section and a mounting section, the diameter of the mounting section is smaller than the diameter of the fixed section, and the rotating body is fixed to the mounting section.

12. The endoscopic needle driving assembly according to claim 10, characterized in that: The fixed tube includes a tube body and a transfer shaft, the rotating body is rotatably mounted on the transfer shaft, and the projection of the rotating body on the tube body at most covers a portion of the through hole of the tube body.

13. The endoscopic needle driving assembly according to any one of claims 1 to 9, characterized in that: The side wall of the suture groove is provided with a cutout surrounding the suture groove, and the cutout is communicated with the suture hole.

14. The endoscopic needle driving assembly according to any one of claims 1 to 9, characterized in that: The rotating body is coaxial with the arc-shaped suture needle.

15. The endoscopic needle driving assembly according to any one of claims 1 to 9, characterized in that: An included angle is formed between the rotation axis of the rotating body and the rotation axis of the arc-shaped suture needle.

16. A suturing device, characterized in that: It comprises a suture, an endoscope and an endoscopic needle driving assembly as described in any one of claims 1 to 15, wherein the suture is connected to the arc-shaped suture needle of the endoscopic needle driving assembly, and the endoscope is connected to the fixed tube sleeve of the endoscopic needle driving assembly.

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