Minimally invasive knotter

Abstract

The present invention relates to the technical field of medical knotters. Disclosed is a minimally invasive knotter, comprising a first forceps handle, a second forceps handle, and a clamping head. Middle portions of the first forceps handle and the second forceps handle are crossed and connected in a hinged mode. A mounting head is arranged on the first forceps handle, and a rotating rod is spherically hinged on the mounting head. The clamping head is connected to the rotating rod. A limiting clamp and a moving assembly are arranged on the second forceps handle. An opening is formed on one side of the limiting clamp. The limiting clamp is connected to the second forceps handle by means of the moving assembly so as to limit the clamping head at a set angle. Two clamping rods are arranged at an end of the clamping head away from the rotating rod. The two clamping rods move toward each other or away from each other by means of a power assembly so as to clamp a suture line or a suture needle, thereby completing knotting, and avoiding the need for prolonged simultaneous gripping of the first forceps handle and the second forceps handle by a user. Meanwhile, the swing angle of the clamping head can be changed according to the required angle under the action of the limiting clamp, thereby further improving the convenience of use for staff.

Description

A minimally invasive knotting device Technical Field

[0001] The invention belongs to the technical field of medical knotters, and in particular relates to a minimally invasive knotter. Background Art

[0002] A minimally invasive knotter is a medical device used for ligation and suturing during minimally invasive surgery. It typically consists of a handle and a head equipped with a cleverly designed ligature hook or suturing needle. A minimally invasive knotter can be inserted through a small incision and used to ligate blood vessels, suture tissue, or repair wounds. This device makes surgical procedures more precise and rapid, reducing postoperative pain and recovery time. Minimally invasive knotters are already widely used in many surgeries, including thoracoscopic, laparoscopic, and arthroscopic surgeries.

[0003] A Chinese patent discloses a minimally invasive surgical knotter (authorization announcement number CN216167617U). The patented technology includes two pliers handles and a pin. The middle parts of the two pliers handles are connected by a pin to form a scissor body. The scissor body is provided with an adjustment part and a clamping part. One end of the pliers handle is provided with a finger ring. The patented technology can be fixed by clamping an arc-shaped clamping block in an arc-shaped clamping groove to adjust the opening size of the clamping part in the scissor body, and the arc-shaped clamping block can be moved and clamped in the arc-shaped clamping groove by manpower.

[0004] However, in actual use of this patented technology, when it is necessary to suture the patient's wound, the staff is required to hold the ring for a long time. The staff's hands are easily fatigued after working for a long time, which increases the difficulty of the staff's work. At the same time, if the staff is tired and does not pay attention to hand tremors, it will also cause the patient's wound injury to worsen.

[0005] Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a minimally invasive knotter that is labor-saving for workers to hold and easy to use.

[0007] The present invention provides the following technical solutions:

[0008] A minimally invasive knotter is provided, comprising a first handle, a second handle, and a clamping head; the first handle and the second handle intersect at their middle portions and are connected in a hinged manner; the first handle is provided with a mounting head, the mounting head being spherically hinged to a rotating rod; the clamping head is connected to the rotating rod;

[0009] The second clamp handle is provided with a limit clamp and a moving assembly; one side of the limit clamp is provided with an opening capable of engaging the clamping head; the limit clamp is connected to the second clamp handle via the moving assembly so as to limit the clamping head to work at a set angle;

[0010] Two clamping rods are provided at the end of the clamping head away from the rotating rod. Under the action of the power assembly, the two clamping rods can move closer to or away from each other to achieve the clamping and loosening of the suture thread.

[0011] Preferably, the moving assembly includes a threaded rod, an adjusting nut and a flat key; the second clamp handle is provided with a accommodating channel recessed inward from the end surface; one end of the threaded rod extends into the accommodating channel, and the other end is connected to the limit clamp; the end of the threaded rod extending into the accommodating channel is provided with a keyway extending along the axial direction of the threaded rod; the flat key is installed on the channel wall of the accommodating channel and is slidably connected to the keyway; the end face of the adjusting nut is provided with a connecting tube extending along its axial direction; the connecting tube is rotatably connected to the second clamp handle; the threaded hole of the adjusting nut is connected to the threaded rod in a sliding spiral transmission manner.

[0012] Preferably, the mounting head is T-shaped, and a first open groove is provided on the head of the mounting head so as to be connected to the first clamp handle. The tail of the mounting head is connected with an elastic spherical elastic groove; the spherical hinge head of the rotating rod is rotatably connected in the spherical elastic groove; the tail of the mounting head is threadedly connected with a locking piece, and the locking piece acts on the spherical elastic groove to inhibit relative movement between the spherical elastic groove and the rotating rod.

[0013] Preferably, an operating chamber is provided inside the clamping head; the end surface of the clamping head facing away from the mounting head is provided with two inwardly recessed connecting grooves; the connecting grooves are communicated with the operating chamber; the power assembly includes a fixed block, an electric push rod and a rotating node rod; the fixed block is installed in the operating chamber; the two electric push rods are installed on the fixed block; the two clamping rods extend into the connecting grooves one by one and are hinged to the moving rod ends of the electric push rods one by one; the rod body of the clamping rod is rotatably connected to the rotating node rod; the rotating node rod is installed on the clamping head and spans the connecting groove.

[0014] Preferably, the cross-section of the limit clamp is "U"-shaped, and the inner wall of the limit clamp is provided with an elastic block; the clamping head is clamped in the limit clamp through the elastic block; and the outer sides of the first clamp handle and the second clamp handle are provided with anti-slip sleeves.

[0015] Preferably, a first mounting slot is provided inside the clamping head; a battery is provided in the first mounting slot; and the battery is electrically connected to the power assembly.

[0016] Preferably, a camera is also installed at the end of the clamping head facing away from the mounting head; the battery is electrically connected to the camera; a second mounting slot is provided inside the clamping head, and an integrated circuit board is provided in the second mounting slot; a control switch for controlling the start and stop of the integrated circuit board is provided on the first clamp handle.

[0017] Preferably, the integrated circuit board includes a control module, an image receiving and processing module, an image transmission module and a wireless signal receiving module;

[0018] The wireless signal receiving module is used to receive information instructions from the outside world;

[0019] The control module is used to process the information instructions received by the wireless signal receiving module and issue instructions to the power component, or issue instructions to the image receiving and processing module and the image transmission module;

[0020] The image receiving and processing module is connected to the camera and is used to receive and perform noise reduction processing on the images captured by the camera;

[0021] The image transmission module is used to transmit the image information after noise reduction processing to an external display device.

[0022] Preferably, the integrated circuit board includes a control module and a wireless signal receiving module;

[0023] The wireless signal receiving module is used to receive information instructions from the outside world;

[0024] The control module is used to process the information instructions received by the wireless signal receiving module and issue instructions to the power component;

[0025] The transmission line of the camera passes through the clamping head and extends from the end of the clamping head close to the mounting head so as to be connected to an external display device.

[0026] Preferably, the end of the clamping rod facing away from the camera is bent toward the middle of the two clamping rods, so as to form a space in the middle of the two clamping rods that can accommodate the camera.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] (1) The first clamp handle can swing relative to the second clamp handle, and the opening and closing angles of the first clamp handle and the second clamp handle can be controlled by clamping them at different positions of the clamp head through the limit clamp; the two clamping rods move closer to or away from each other with the help of the power component, thereby clamping the suture or needle to complete the knot, which can avoid the need for manpower to hold the first clamp handle and the second clamp handle at the same time for a long time. At the same time, the swing angle of the clamp head can be changed according to the required angle under the action of the limit clamp, further improving the convenience of use for the staff.

[0029] (2) By setting the spherical tensioning groove and the locking piece, the swing angle of the clamping head can be roughly adjusted, and by setting the adjusting nut and the threaded rod, the swing angle of the clamping head can be finely adjusted, thereby ensuring the accuracy and stability of the swing angle of the clamping head.

[0030] (3) A camera is provided between the two clamping rods, which can transmit the image of the wound to an external display device, so that external staff can have a clear and intuitive understanding of the wound condition through the external display device, thereby assisting in suturing and knotting. It is very suitable for use in minimally invasive surgery, and compared with traditional knotters, it improves the work quality and use efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG1 is an isometric view of a minimally invasive knotter according to the present invention from a first perspective;

[0032] FIG2 is a front view of the minimally invasive knotter of the present invention;

[0033] FIG3 is an isometric view of the minimally invasive knotter of the present invention from a second perspective;

[0034] FIG4 is a schematic diagram of the connection between the limit clamp and the second clamp handle of the minimally invasive knotter of the present invention;

[0035] FIG5 is a schematic diagram of the internal structure of the clamping head of the minimally invasive knotter of the present invention;

[0036] FIG6 is an enlarged structural schematic diagram of a portion A in FIG5 of the present invention;

[0037] FIG7 is a block diagram of an integrated circuit board of a minimally invasive knotter according to the present invention;

[0038] FIG8 is a block diagram of another integrated circuit board of the minimally invasive knotter of the present invention.

[0039] Markings in the figure are: 1 is the first clamp handle, 11 is the anti-slip sleeve, 2 is the second clamp handle, 21 is the accommodating channel, 3 is the clamping head, 31 is the clamping rod, 32 is the operating chamber, 33 is the connecting groove, 34 is the first mounting groove, 35 is the second mounting groove, 4 is the mounting head, 41 is the first opening groove, 42 is the spherical elastic groove, 43 is the locking piece, 5 is the rotating rod, 6 is the limit clamp, 7 is the moving component, 71 is the threaded rod, 711 is the keyway, 72 is the adjusting nut, 721 is the connecting tube, 73 is the flat key, 8 is the power component, 81 is the fixed block, 82 is the electric push rod, 83 is the rotating node rod, 9 is the battery, 91 is the camera, 92 is the integrated circuit board, 93 is the control switch, 100 is the wireless signal receiving module, 200 is the control module, 300 is the image receiving and processing module, and 400 is the image transmission module. DETAILED DESCRIPTION

[0040] The present invention will now be described in further detail with reference to the accompanying drawings.

[0041] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0042] As shown in Figures 1-3, a minimally invasive knotter includes a first handle 1, a second handle 2 and a clamping head 3; the middle parts of the first handle 1 and the second handle 2 are crossed and connected in a hinged form, that is, the shape of the first handle 1 and the second handle 2 after being hinged is X-shaped.

[0043] The first clamp handle 1 is provided with a mounting head 4, and a rotating rod 5 is spherically hinged on the mounting head 4; the clamping head 3 is connected to the rotating rod 5; the mounting head 4 can be connected to the first clamp handle 1 by welding as a whole or integrally formed, and the second clamp handle 2 is provided with a limit clamp 6 and a moving component 7; one side of the limit clamp 6 is provided with an opening that can engage the clamping head 3; the clamping head 3 and the rotating rod 5 are connected by threaded connection or other detachable means, and of course can also be connected by welding or other non-detachable means; the rotating rod 5 can rotate in all directions along the mounting head 4; the limit clamp 6 is connected to the second clamp handle 2 through the moving component 7 so as to limit the clamping head 3 at a set angle.

[0044] Furthermore, in order to ensure the clamping effect of the limit clamp 6 on the clamping head 3, the cross-section of the limit clamp 6 is "U"-shaped, and the inner wall of the limit clamp 6 is provided with an elastic block; the clamping head 3 is clamped in the limit clamp 6 through the elastic block, that is, when the clamping head 3 is clamped in the elastic block, the elastic block tightly surrounds the outside of the clamping head 3, and the elastic block itself has a certain friction force, thereby preventing the clamping head 3 from detaching from the elastic block; the U-shaped limit clamp 6 can also enable the clamping head 3 to detach from the rotating rod 5 and the limit clamp 6 when maintenance or cleaning is required, thereby improving practicality.

[0045] Furthermore, the outer sides of the first clamp handle 1 and the second clamp handle 2 are both provided with anti-slip covers 11 , which can improve the comfort of the workers.

[0046] Specifically, as shown in Figure 4, the moving assembly 7 includes a threaded rod 71, an adjusting nut 72 and a flat key 73; the second clamp handle 2 is provided with a accommodating channel 21 that is recessed inward from the end surface; one end of the threaded rod 71 extends into the accommodating channel 21, and the other end is connected to the limit clamp 6; the end of the threaded rod 71 extending into the accommodating channel 21 is provided with a keyway 711, and the keyway 711 extends axially along the threaded rod 71; the flat key 73 is installed on the channel wall of the accommodating channel 21 and is slidably connected to the keyway 711, that is, between the flat key 73 and the keyway 71 1, the threaded rod 71 can move back and forth relative to the accommodating channel 21 along the axial direction of the threaded rod 71; the end surface of the adjusting nut 72 is provided with a connecting tube 721 extending along its axial direction; the connecting tube 721 is rotatably connected to the second clamp handle 2; the threaded hole of the adjusting nut 72 is connected to the threaded rod 71 in a sliding spiral transmission manner; by rotating the adjusting nut 72, the threaded rod 71 can move in the direction of screwing into or out of the accommodating channel 21, thereby changing the position of the limit clamp 6 and changing the swing angle of the clamping head 3 relative to the mounting head 4.

[0047] Specifically, as shown in Figures 5-6, two clamping rods 31 are provided at the end of the clamping head 3 away from the rotating rod 5. Under the action of the power component 8, the two clamping rods 31 can approach each other or move away from each other to achieve the clamping and loosening of the suture thread. The two clamping rods 31 are opened and closed with the help of the power component 8, which can avoid the need for manpower to hold the first clamp handle 1 and the second clamp handle 2 at the same time for a long time. The swing angle of the clamping head 3 can be changed as needed and can be accurately limited to the set angle for use, which can further improve the convenience of use for the staff.

[0048] Specifically, the interior of the clamping head 3 is provided with an operating cavity 32; the end surface of the clamping head 3 facing away from the mounting head 4 is provided with two inwardly recessed connecting grooves 33; the connecting grooves 33 are connected to the operating cavity 32; the power assembly 8 includes a fixed block 81, an electric push rod 82 and a rotating node rod 83; the fixed block 81 is installed in the operating cavity 32; the two electric push rods 82 are installed on the fixed block 81; the two clamping rods 31 extend into the connecting grooves 33 one by one, and correspond one by one with the electric push rods 82. The end of the moving rod is hinged; the rod body of the clamping rod 31 is rotatably connected to the rotating node rod 83; the rotating node rod 83 is installed in the clamping head 3 and spans the connecting groove 33; under the joint action of the two electric push rods 82, the two clamping rods 31 approach or move away from each other. Of course, the two electric push rods 82 can also be two ball screws, or ball screws with different rotation directions at both ends. When the clamping rod 31 is driven under the action of the ball screw, there is no need to set the rotating node rod 83, but a sliding guide rod can be set as needed.

[0049] In some other embodiments, the mounting head 4 is T-shaped, and a first open groove 41 is provided on the head of the mounting head 4 so as to be threadedly connected to the first clamp handle 1 or fastened by other connecting parts, and the tail of the mounting head 4 is connected with an elastic spherical elastic groove 42; the structure of the elastic spherical elastic groove 42 can be a hemispherical structure that can be squeezed by rubber material, and of course it can also be a hemispherical structure formed by multiple elastic sheets with a certain gap; the spherical hinge joint of the rotating rod 5 is rotatably connected in the spherical elastic groove 42; the tail of the mounting head 4 is threadedly connected with a locking member 43, and the locking member 43 acts on the spherical elastic groove 42 to inhibit the spherical elastic groove 42 and the rotating rod 5 Relative movement occurs, that is, when the rotating rod 5 rotates to a set angle relative to the spherical elastic groove 42, the locking piece 43 is wrapped around the outside of the elastic spherical elastic groove 42, thereby preventing the spherical elastic groove 42 and the rotating rod 5 from having relative movement; the locking piece 43 can be a threaded cylinder or a fastening nut, that is, through the setting of the locking piece 43, the spherical elastic groove 42 and the rotating rod 5, the swing angle of the clamping head 3 can be greatly controlled; through the setting of the spherical elastic groove 42 and the locking piece 43, the swing angle of the clamping head 3 can be roughly adjusted, and through the setting of the adjusting nut 72 and the threaded rod 71, the swing angle of the clamping head 3 can be finely adjusted, thereby ensuring the accuracy and stability of the swing angle.

[0050] In some other embodiments, a first mounting groove 34 is provided inside the clamping head 3; a battery 9 is provided in the first mounting groove 34; the battery 9 is electrically connected to the power component 8; the structure of the battery 9 can refer to the existing technology; the power supply of the power component 8 can also be connected through an external power supply and a power cord.

[0051] In some other embodiments, a camera 91 is also installed at the end of the clamping head 3 facing away from the mounting head 4; specifically, the end of the clamping rod 31 facing away from the camera 91 is bent toward the middle of the two clamping rods 31 so as to form a space that can accommodate the camera 91 in the middle of the two clamping rods 31; the battery 9 is electrically connected to the camera 91; a second mounting groove 35 is provided inside the clamping head 3, and an integrated circuit board 92 is provided in the second mounting groove 35; a control switch 93 for controlling the start and stop of the integrated circuit board 92 is provided on the first clamp handle 1; in one embodiment, as shown in Figure 7, the integrated circuit board 92 includes a control module 200, an image receiving and processing module 300, an image transmission module 400 and a wireless signal receiving module 100.

[0052] Specifically, the wireless signal receiving module 100 is used to receive information instructions from the outside world, and the control module 200 is used to process the information instructions received by the wireless signal receiving module 100, and issue instructions to the power component 8, as well as to the image receiving and processing module 300 and the image transmission module 400.

[0053] The image receiving and processing module 300 is connected to the camera 91 and is used to receive and perform noise reduction processing on the images captured by the camera 91. Specifically, part of the code for image noise reduction processing is:

[0054] import cv2

[0055] #Read image

[0056] image=cv2.imread('input_image.jpg')

[0057] #Convert the image to grayscale

[0058] gray_img=cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)

[0059] # Use mean filter to reduce noise

[0060] denoised_img = cv2.blur(gray_img, (3, 3)) # Adjust the filter size to control the degree of noise reduction

[0061] # Display the original image and the denoised image

[0062] cv2.imshow('Original Image',gray_img)

[0063] cv2.imshow('Denoised Image',denoised_img)

[0064] cv2.waitKey(0)

[0065] cv2.destroyAllWindows();

[0066] The image transmission module 400 is used to transmit the image information after the noise reduction processing by the image receiving and processing module 300 to an external display device, so as to realize remote image browsing, sharing, storage or processing.

[0067] In another embodiment, as shown in Figure 8, the integrated circuit board 92 includes a control module 200 and a wireless signal receiving module 100; the wireless signal receiving module 100 is used to receive information instructions from the outside world; the control module 200 is used to process the information instructions received by the wireless signal receiving module 100 and issue instructions to the power component 8; the transmission line of the camera 91 passes through the clamping head 3 and extends from the end of the clamping head 3 close to the mounting head 4 so as to be connected to an external display device, that is, the shooting picture of the camera 91 is directly transmitted to the external device through the transmission line, and the picture of the camera 91 is processed and displayed by the external device.

[0068] The working method of the present invention is that when in use, the clamping head 3 is connected to the rotating rod 5, and the rotating rod 5 is rotated to make the rotating rod 5 and the spherical elastic groove 42 rotate relative to each other, so that the clamping head 3 swings at a set angle; adjust the opening and closing angles of the first clamp handle 1 and the second clamp handle 2, rotate the adjusting nut 72, so that the threaded rod 71 is translated along its own axial direction, and the clamping head 3 is clamped into the limit clamp 6, thereby completing the angle adjustment of the clamping head 3 and the length adjustment of the clamping head 3 extending out of the limit clamp 6; use the electric push rod 82 to drive the two clamping rods 31 to rotate, so that the two clamping rods 31 rotate in coordination with each other to achieve clamping of the suture thread and complete knotting; in addition, before and after knotting, the camera 91 can be used to capture images and transmit the images to an external display device, so that external staff can understand the condition of the wound in the body through the external display device and perform suture and knotting.

[0069] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0070] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform.

[0071] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A minimally invasive knotter, characterized in that: The invention comprises a first clamp handle (1), a second clamp handle (2) and a clamp head (3); the first clamp handle (1) and the second clamp handle (2) are intersected at their middle parts and are connected in a hinged manner; the first clamp handle (1) is provided with a mounting head (4), and a rotating rod (5) is spherically hinged on the mounting head (4); the clamp head (3) is connected to the rotating rod (5); The second clamp handle (2) is provided with a limit clamp (6) and a moving assembly (7); one side of the limit clamp (6) is provided with an opening capable of engaging the clamping head (3); the limit clamp (6) is connected to the second clamp handle (2) via the moving assembly (7) so as to limit the clamping head (3) to work at a set angle; The end of the clamping head (3) away from the rotating rod (5) is provided with two clamping rods (31). Under the action of the power assembly (8), the two clamping rods (31) can move closer to each other or away from each other to achieve the clamping and loosening of the suture thread.

2. The minimally invasive knotter according to claim 1, characterized in that: The moving assembly (7) comprises a threaded rod (71), an adjusting nut (72) and a flat key (73); the second clamp handle (2) is provided with a receiving channel (21) which is recessed inward from the end surface; one end of the threaded rod (71) extends into the receiving channel (21), and the other end is connected to the limit clamp (6); the end of the threaded rod (71) extending into the receiving channel (21) is provided with a keyway (711) extending along the axial direction of the threaded rod (71); the flat key (73) is installed on the channel wall of the receiving channel (21) and is slidably connected to the keyway (711); the end surface of the adjusting nut (72) is provided with a connecting tube (721) extending along the axial direction thereof; the connecting tube (721) is rotatably connected to the second clamp handle (2); the threaded hole of the adjusting nut (72) is connected to the threaded rod (71) in a sliding spiral transmission manner.

3. The minimally invasive knotter according to claim 1, characterized in that: The mounting head (4) is T-shaped, and a first opening groove (41) is provided at the head of the mounting head (4) so ​​as to be connected to the first clamp handle (1); the tail of the mounting head (4) is connected to an elastic spherical elastic groove (42); the spherical hinge joint of the rotating rod (5) is rotatably connected in the spherical elastic groove (42); the tail of the mounting head (4) is threadedly connected to a locking member (43), and the locking member (43) acts on the spherical elastic groove (42) to inhibit relative movement between the spherical elastic groove (42) and the rotating rod (5).

4. The minimally invasive knotter according to claim 1, characterized in that: An operating chamber (32) is provided inside the clamping head (3); the end surface of the clamping head (3) facing away from the mounting head (4) is provided with two inwardly recessed connecting grooves (33); the connecting grooves (33) are communicated with the operating chamber (32); the power assembly (8) comprises a fixed block (81), an electric push rod (82) and a rotating node rod (83); the fixed block (81) is installed in the operating chamber (32); the two electric push rods (82) are installed on the fixed block (81); the two clamping rods (31) extend into the connecting grooves (33) one by one, and are hinged to the moving rod ends of the electric push rods (82) one by one; the rod body of the clamping rod (31) is rotatably connected to the rotating node rod (83); the rotating node rod (83) is installed on the clamping head (3) and spans the connecting groove (33).

5. The minimally invasive knotter according to claim 1, characterized in that: The cross section of the limit clamp (6) is "U"-shaped, and an elastic block is provided on the inner wall of the limit clamp (6); the clamping head (3) is clamped in the limit clamp (6) through the elastic block; and anti-slip sleeves (11) are provided on the outer sides of the first clamp handle (1) and the second clamp handle (2).

6. The minimally invasive knotter according to claim 1, characterized in that: A first installation slot (34) is provided inside the clamping head (3); a storage battery (9) is provided inside the first installation slot (34); and the storage battery (9) is electrically connected to a power assembly (8).

7. The minimally invasive knotter according to claim 6, characterized in that: A camera (91) is also installed at the end of the clamping head (3) facing away from the mounting head (4); the storage battery (9) is electrically connected to the camera (91); a second mounting groove (35) is provided inside the clamping head (3), and an integrated circuit board (92) is provided in the second mounting groove (35); and a control switch (93) for controlling the start and stop of the integrated circuit board (92) is provided on the first clamp handle (1).

8. The minimally invasive knotter according to claim 7, characterized in that: The integrated circuit board (92) comprises a control module (200), an image receiving and processing module (300), an image transmission module (400) and a wireless signal receiving module (100); The wireless signal receiving module (100) is used to receive information instructions from the outside world; The control module (200) is used to process the information instructions received by the wireless signal receiving module (100), and issue instructions to the power component (8), and to issue instructions to the image receiving and processing module (300) and the image transmission module (400); The image receiving and processing module (300) is connected to the camera (91) and is used to receive and perform noise reduction processing on the images captured by the camera (91); The image transmission module (400) is used to transmit the image information after the noise reduction processing by the image receiving and processing module (300) to an external display device.

9. The minimally invasive knotter according to claim 7, characterized in that: The integrated circuit board (92) comprises a control module (200) and a wireless signal receiving module (100); The wireless signal receiving module (100) is used to receive information instructions from the outside world; The control module (200) is used to process the information instructions received by the wireless signal receiving module (100) and issue instructions to the power component (8); The transmission line of the camera (91) passes through the clamping head (3) and extends from the end of the clamping head (3) close to the mounting head (4) so ​​as to be connected to an external display device.

10. The minimally invasive knotter according to claim 7, characterized in that: The end of the clamping rod (31) facing away from the camera (91) is bent toward the middle of the two clamping rods (31), so as to form a space capable of accommodating the camera (91) in the middle of the two clamping rods (31).

Images