CN113576569A - Surgical suture needle replacing device of electrically actuated polymer and needle replacing method thereof - Google Patents
Surgical suture needle replacing device of electrically actuated polymer and needle replacing method thereof Download PDFInfo
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- CN113576569A CN113576569A CN202111003066.2A CN202111003066A CN113576569A CN 113576569 A CN113576569 A CN 113576569A CN 202111003066 A CN202111003066 A CN 202111003066A CN 113576569 A CN113576569 A CN 113576569A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 229920000642 polymer Polymers 0.000 title claims abstract description 24
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 claims description 89
- 238000004804 winding Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 18
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000009958 sewing Methods 0.000 description 29
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 210000001519 tissue Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 239000004696 Poly ether ether ketone Substances 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004793 Polystyrene Substances 0.000 description 1
- 239000004433 Thermoplastic polyurethane Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 239000003562 lightweight material Substances 0.000 description 1
- 210000005075 mammary gland Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 229920002530 polyetherether ketone Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920002223 polystyrene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0491—Sewing machines for surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0482—Needle or suture guides
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Abstract
The invention discloses an electrically-actuated polymer surgical suture needle replacing device, which relates to the technical field of needle replacing devices and comprises a rotary driving device, a linear driving device and a suture needle device which are positioned in a shell; the invention also provides a needle changing method adopting the needle changing equipment. The invention has the beneficial effects that: the invention uses the electric actuating polymer as the needle changing module of the rotary driving unit to rotate the suture needle to a proper angle, and uses the linear driving unit to push out the needed suture needle, thereby realizing the requirement of no-gap needle changing in the operation process and simplifying the operation suture process.
Description
Technical Field
The invention relates to the technical field of needle changing equipment, in particular to surgical suture needle changing equipment of an electrically-actuated polymer and a needle changing method thereof.
Background
Three types of surgical suture needles are commonly used, namely round needles, triangular needles (angle needles) and straight needles. Straight needles are suitable for suturing in both spacious and superficial procedures, such as suturing of the skin and gastrointestinal tract. The round needle is relatively suitable for the suture of soft tissues, blood vessels, nerves and internal organs because the whole body of the round needle is round. The side-band sharp bag of the triangular needle is easy to penetrate through tissues, so that the triangular needle is suitable for sewing skin, tough scars and the like, and almost all tissues and organs in clinic at present are sewn by using a curved round needle and a horn needle. Generally, a large-sized angle needle is used for suturing skin and deep tissues, and a small round needle is used for suturing small organs and blood vessels. During the surgical suture process, the needle replacement operation is usually completed by the cooperation of doctors and nurses due to the difference of suture positions, which not only lengthens the operation time, but also increases the labor input.
The patent application No. CN200620039395.7 discloses a suturing device for surgical operation, which is provided with an annular track for running a suturing needle, wherein the annular track is provided with a suturing opening and a suture channel, and the annular track is combined with a needle pulling device, so that the suturing needle can carry out suturing movement according to a set track. However, this mechanism can only use one type of needle, and it is difficult to perform the needle replacement operation without intermittence in the sewing process. The patent with publication number CN208274590U discloses a suture device for minimally invasive mammary gland surgery, which utilizes the transmission of gears and shafts to make the suture needle move freely and rotate to complete the surgical suture process. But the transmission route is complex and the efficiency is low. The patent with publication number CN202223282U discloses a surgical suture instrument, wherein a surgical suture needle is fixed at the front end of a handle, a shaft hole is arranged in the handle, a spool is arranged in the shaft hole, a suture thread is wound on the spool, a suture thread channel is arranged in the handle, the suture thread channel is communicated with the hollow part of the surgical suture needle, and one end of the suture thread penetrates out from the needle point of the surgical suture needle through the suture thread channel. This patent is difficult to adapt to the automated suturing process and does not allow for the completion of non-intermittent needle change conditions.
Based on the current situation, the invention provides surgical suture needle changing equipment based on an electrically actuated polymer and a needle changing method thereof. The device realizes non-intermittent needle replacement in the operation by utilizing a flexible driving technology and through a stepless adjusting structure design.
Disclosure of Invention
The invention aims to solve the technical problem that the needle changing equipment in the prior art is difficult to realize non-intermittent needle changing, and provides surgical needle changing equipment and a needle changing method based on an electrically actuated polymer.
The invention solves the technical problems through the following technical means:
the invention provides an electrically-actuated polymer surgical suture needle-changing device, which comprises a rotary driving device, a linear driving device and a suture needle device, wherein the rotary driving device, the linear driving device and the suture needle device are positioned in a shell; the rotary driving device comprises a rotary driving unit, a first gripper, a first base and a second base;
the rotary driving unit comprises an elastic film and IPMC sheets, the IPMC sheets are respectively positioned on two sides of the elastic film and are arranged in a crossed mode, one end of the elastic film is connected with one end of the first base, the other end of the elastic film is connected with one end of the second base, and the IPMC sheets are electrified to enable the elastic film to be spiral;
the first gripper is positioned at one end of the first base, and the linear driving device is positioned at one end of the first gripper;
the sewing needle device comprises a sewing needle and a sixth base, one end of the sixth base is connected with the second base, the sewing needle is positioned in the sixth base, and one end of the shell is provided with a needle outlet;
the first base is grabbed to first tongs, elastic film is the heliciform and causes the second base to rotate, drives the sixth base and rotates to drive the sewing needle and rotate to needle outlet, linear drive device drive first base is along its axial displacement, causes the sewing needle to stretch out needle outlet.
The working principle is as follows: the first gripper grabs the first base to enable the first base not to rotate, the IPMC sheet is electrified to enable the elastic film to be in a spiral shape to enable the second base to rotate and drive the sixth base to rotate, so that the sewing needle is driven to rotate to the needle outlet, the state is kept, then the linear driving device drives the first base to move along the axial direction of the first base, the sewing needle extends out of the needle outlet, and when the needle needs to be replaced, the steps are repeated.
Has the advantages that: the invention utilizes the electric actuating polymer as the needle changing module of the rotary driving unit to rotate the suture needle to a proper angle, utilizes the linear driving unit to push out the needed suture needle, utilizes the flexible driving technology and the stepless adjusting structure design, can realize the requirement of gapless needle changing in the operation process and simplifies the operation suture process.
Preferably, the rotary driving device further comprises a second gripper, the second gripper is located at one end of the second base, the second gripper grips the second base, and the elastic film is in a spiral shape to enable the first base to rotate.
Has the advantages that: through first tongs and second tongs, repeated second base and first base rotation process make the rotary driving unit accomplish clockwise and anticlockwise many circles of rotations, have greatly improved rotatory degree of freedom.
Preferably, the IPMC sheets are parallelogram-shaped, two IPMC sheets are arranged on two sides of the elastic film, the IPMC sheets on the same side are symmetrically arranged along the length direction of the elastic film, and the IPMC sheets on the two sides are arranged in a crossed mode.
Has the advantages that: the parallelogram is selected to enable the elastic film and the IPMC sheet to have larger contact area, and the IPMC sheets arranged in a crossed mode on different surfaces are electrified to enable the elastic film to be in a spiral state.
Preferably, the first handle comprises a third base and a first IPMC strip, one end of the first IPMC strip is connected with one end of the third base, and the other end of the first IPMC strip is clamped on the first base outer side wall.
The working principle is as follows: and electrifying the first IPMC strip, bending the end part of the first IPMC strip close to the first base, and clamping the end part of the first IPMC strip on the side wall of the first base so as to grasp the first base and limit the rotation of the first base.
Preferably, the outer side wall of the first base is provided with a plurality of second grooves, the second grooves are uniformly arranged along the circumferential direction of the first bottom wall, and the length direction of the second grooves is axially parallel to the first base.
Has the advantages that: the second slot increases the friction between the first IPMC strip and the first base outer sidewall to further limit the rotation of the first base.
Preferably, the second handle comprises a fourth base and a second IPMC strip, one end of the second IPMC strip is connected to one end of the fourth base, and the other end of the second IPMC strip is fastened to the second base outer side wall.
The working principle is as follows: and electrifying the second IPMC strip, bending the end part of the second IPMC strip close to the first base, and clamping the end part of the second IPMC strip on the side wall of the second base so as to grasp the second base and limit the rotation of the second base.
Preferably, the linear driving device comprises an electromagnetic relay, a first elastic member, a magnetic sheet and a fifth base; the magnetic sheet is positioned on the first base, the center of the third base is provided with a first through hole, the fifth base is positioned at the bottom end of the shell, one end of the first elastic piece is connected with one end of the fifth base, and the electromagnetic relay is positioned in the first elastic piece;
the electromagnetic relay is electrified to enable the magnetic sheet to attract the first elastic piece, so that the first elastic piece is in a compression state, and the electromagnetic relay is powered off to enable the first elastic piece to stretch out, so that the first base, the rotary driving unit, the second base and the sixth base move towards the needle outlet, and therefore the sewing needle stretches out of the needle outlet.
Preferably, the suture needle device further comprises a winding unit and a second elastic member; the novel sewing needle is characterized in that the sixth base is hollow, the winding unit is located inside the sixth base, a third through hole is formed in the top end of the sixth base, one end of the second elastic piece is located in the third through hole, the other end of the second elastic piece is inserted into the needle hole end of the sewing needle, and the other end of the sewing needle abuts against the inner top wall of the shell.
Has the advantages that: the ejection of the suture needle is facilitated by the second elastic member.
Preferably, a positioning block is arranged at the bottom end of the third through hole, a fourth through hole is formed in the center of the positioning block, and the needle hole end of the suture needle sequentially extends into the fourth through hole, the third through hole and the second elastic piece.
The working principle of the invention is as follows: the first gripper grabs the first base to enable the first base not to rotate, the IPMC sheet is electrified to enable the elastic film to be in a spiral shape to enable the second base to rotate and drive the sixth base to rotate, so that the sewing needle is driven to rotate to the needle outlet, the state is kept, then the linear driving device drives the first base to move along the axial direction of the first base, the sewing needle extends out of the needle outlet, and when the needle needs to be replaced, the steps are repeated.
A needle changing method adopting the needle changing equipment comprises the following steps: the first gripper grabs the first base, the IPMC sheet is electrified to enable the elastic film to be spiral, the elastic film is spiral to enable the second base to rotate and drive the sixth base to rotate, so that the sewing needle is driven to rotate to the needle outlet, and the linear driving device drives the first base to move along the axial direction of the first base to enable the sewing needle to extend out of the needle outlet on the shell.
The invention has the advantages that: the invention utilizes the electric actuating polymer as the needle changing module of the rotary driving unit to rotate the suture needle to a proper angle, utilizes the linear driving unit to push out the needed suture needle, utilizes the flexible driving technology and the stepless adjusting structure design, can realize the requirement of gapless needle changing in the operation process and simplifies the operation suture process.
Through first tongs and second tongs, repeated second base and first base rotation process make the rotary driving unit accomplish clockwise and anticlockwise many circles of rotations, have greatly improved rotatory degree of freedom.
The parallelogram is selected to enable the elastic film and the IPMC sheet to have larger contact area, and the IPMC sheets arranged in a crossed mode on different surfaces are electrified to enable the elastic film to be in a spiral state.
The ejection of the suture needle is facilitated by the second elastic member.
Drawings
FIG. 1 is a schematic structural view of a surgical suture needle-changing apparatus of an electrically actuated polymer according to example 1 of the present invention;
FIG. 2 is a schematic perspective view of the needle changing apparatus for surgical suture of electrically actuated polymer in example 1 of the present invention;
fig. 3 is a schematic structural view of a rotation driving apparatus according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of a rotation driving unit in a spiral state according to embodiment 1 of the present invention;
fig. 5 is a perspective view of the linear driving device in embodiment 1 of the present invention;
FIG. 6 is a schematic perspective view showing a structure of a suture needle device in example 1 of the present invention;
fig. 7 is a perspective view of the first gripper in embodiment 1 of the present invention;
fig. 8 is a schematic structural view of a rotary drive apparatus according to embodiment 2 of the present invention;
fig. 9 is a schematic structural view of a rotary drive unit in a rotary drive device according to embodiment 2 of the present invention in a spiral state;
FIG. 10 is a schematic perspective view of the needle changing device for surgical suture made of electrically actuated polymer according to embodiment 2 of the present invention;
in the figure: a housing 1; a rotation drive unit 21; an elastic film 211; an IPMC sheet 212; a first base 22; a second groove 221; a first clamping block 222; a second base 23; the third groove 231; a second clamping block 232; a first gripper 24; a third base 241; a first slider 2411; a first IPMC strip 242; the fifth groove 2421; a second gripper 25; a fourth base 251; a second slider 2511; a second IPMC strip 252; a linear drive device 3; an electromagnetic relay 31; a first spring 32; a fifth base 33; a suture needle device 4; a suture needle 41; a winding unit 42; a sixth base 43; a second spring 44; a positioning block 45; a needle outlet 46.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
It is noted that, in this document, relational terms such as first and second, and the like, if any, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Example 1
An electrically-actuated polymer surgical suture needle replacing device is shown in figures 1-7 and comprises a shell 1, a rotary driving device, a linear driving device 3 and a suture needle 41 device 4, wherein the rotary driving device, the linear driving device 3 and the suture needle 41 device 4 are all positioned in the shell 1, and the shell 1 is disassembled according to actual requirements, so that the shell 1 can be disassembled.
As shown in fig. 1, in the present embodiment, the casing 1 is a hard casing 1, and the material of the casing 1 is one or more of lightweight materials harmless to human body, such as polyvinyl chloride, polycarbonate, polyethylene, polystyrene, thermoplastic polyurethane, polytetrafluoroethylene, and polyether ether ketone.
As shown in fig. 2 to 4, the rotation driving means includes a rotation driving unit 21, a first base 22, a second base 23, a first hand grip 24, and a second hand grip 25.
The rotation driving unit 21 includes an elastic film 211 and at least four IPMC sheets 212, the material of the elastic film 211 is silicon rubber or other materials harmless to human body and deformable and recoverable, in the embodiment, the IPMC sheets 212 are four sheets, and the IPMC sheets 212 are a Nation IPMC sheet, which is a conventional technology, and can be bent toward a certain direction when power is applied. The IPMC sheets 212 are parallelogram-shaped, four IPMCs are adhered to the surface of the elastic film 211 through an insulating tape, two IPMCs are adhered to one surface of the elastic film 211, the other two IPMCs are adhered to the other surface of the elastic film 211, the IPMCs on the two surfaces are arranged in a crossed mode, and the IPMCs on the same surface are symmetrically arranged along the length direction of the elastic film 211. The side edges of each IPMC are parallel to the longer side edges of the elastic film 211.
The IPMC pieces 212 at diagonal corners are energized, and the IPMC pieces 212 at diagonal corners are bent in the same direction, so that the rotary drive unit 21 is rotated clockwise in a spiral shape. The other pair of diagonal IPMC pieces 212 is energized, the diagonal IPMC is bent, and the rotary drive unit 21 is rotated counterclockwise in a spiral shape.
The first base 22 and the second base 23 are respectively located at two ends of the elastic film 211, and the first base 22 and the second base 23 are both columnar. A first groove is formed in the center of the first base 22, the outer bottom wall of the first base 22 is arranged towards the elastic film 211, two first clamping blocks 222 are fixedly mounted on the outer bottom wall of the first base 22, a gap is formed between the two first clamping blocks 222, and the elastic film 211 is clamped in the gap. The side wall of the first base 22 is provided with a plurality of second grooves 221, the plurality of second grooves 221 are uniformly arranged along the circumferential direction of the first bottom wall, and the length direction of the second grooves 221 is axially parallel to the first base 22.
The center of the second base 23 is provided with a third groove 231, the outer bottom wall of the second base 23 is arranged towards the elastic film 211, the outer bottom wall of the second base 23 is fixedly provided with two second clamping blocks 232, a gap is arranged between the two second clamping blocks 232, and the elastic film 211 is clamped in the gap. A plurality of fourth grooves are formed in the side wall of the second base 23, the plurality of fourth grooves are evenly arranged along the circumferential direction of the second bottom wall, and the length direction of each fourth groove is axially parallel to the second base 23.
As shown in fig. 3 and 7, first grip 24 includes a third base 241 and a first IPMC strip 242, and second grip 25 includes a fourth base 251 and a second IPMC strip 252.
The center of the third base 241 is provided with a first through hole, the outer diameter of the third base 241 is greater than the outer diameter of the first base 22, the outer side wall of the third base 241 is provided with first sliders 2411, the number of the first sliders 2411 is set according to actual needs, the inner side wall of the casing 1 is provided with corresponding first sliding grooves, the first IPMC strips 242 are distributed around the third base 241, in the embodiment, the number of the first IPMC strips 242 is four, but not limited to four, one end of the first IPMC strips 242 is fixedly connected with one end of the third base 241, the other end of the first IPMC strips 242 is provided with a fifth groove, when the first IPMC strips 242 are electrified, the end of the first IPMC strips 242 with the fifth groove is bent, and the other end of the first IPMC strips 242 is clamped on the side wall of the first base 22. After the first IPMC strip 242 is engaged, the second slot 221 increases the friction between the first IPMC strip 242 and the outer wall of the first base 22, further limiting the rotation of the first base 22.
A second through hole is formed in the center of the fourth base 251, the outer diameter of the fourth base 251 is greater than that of the second base 23, a second slider 2511 is disposed on the outer side wall of the fourth base 251, a corresponding second sliding groove is disposed on the inner side wall of the housing 1, the second IPMC strips 252 are distributed around the fourth base 251, in this embodiment, the number of the second IPMC strips 252 is four, but is not limited to four, one end of the second IPMC strips 252 is fixedly connected with one end of the fourth base 251, a sixth groove is formed in the other end of the second IPMC strips 252, when the second IPMC strips 252 are powered on, the end of the second IPMC strips 252 with the sixth groove is bent, and the other end of the second IPMC strips 252 is clamped on the side wall of the second base 23. After the second IPMC strip 252 is engaged, the fourth slot increases the friction between the second IPMC strip 252 and the outer wall of the first base 22, further restricting the rotation of the second base 23.
As shown in fig. 2 and 5, the linear driving device 3 includes an electromagnetic relay 31, a first elastic member, an iron sheet (not shown) and a fifth base 33, the iron sheet is located at the inner bottom wall of the first groove of the first base 22, the first elastic member is a first spring 32, the first spring 32 is wrapped on the outer side wall of the electromagnetic relay 31, one end of the first spring 32 is fixedly connected with one end of the fifth base 33, the other end of the first spring 32 extends into the first through hole of the third base 241, the electromagnetic relay 31 is fixedly mounted at one end of the fifth base 33, the fifth base 33 is in interference fit with the housing 1, the electromagnetic relay 31 generates magnetic force after being energized, and attracts the first base 22, and at this time, the first spring 32 is in a compressed state.
As shown in fig. 2 and 6, the suture needle device 4 includes a suture needle 41, a winding unit 42 and a sixth base 43, the first base 22, the second base 23, the third base 241, the fourth base 251, the fifth base 33 and the sixth base 43 are coaxially disposed, since the number of the suture needles 41 required for a surgical operation is generally 2-3, in the present embodiment, three suture needles 41 of different types are disposed, the number of the winding unit 42 is matched with the number of the suture needles 41, and the winding unit 42 is the prior art.
The bottom end of the sixth base 43 extends into the second through hole of the fourth base 251, the bottom end of the sixth base 43 is fixedly connected with the bottom wall of the second base 23, the sixth base 43 is hollow inside, the winding unit 42 is fixedly installed inside the sixth base 43, the top end of the sixth base 43 is provided with a third through hole, a second elastic member is arranged in the third through hole, the second elastic member is a second spring 44 in the embodiment, one end of the second spring 44 is just clamped in the third through hole, the needle hole end of the suture needle 41 is inserted into the other end of the second spring 44, the second spring 44 is compressed, the needle hole end of the suture needle 41 supports against the second spring 44, the other end of the suture needle 41 extends out of the third through hole and supports against the inner top wall of the casing 1, and the needle hole of the suture needle 41 is connected with the winding unit 42 through a surgical thread.
In order to ensure the pop-up path of the suture needle 41 during pop-up, the suture needle pop-up device further comprises positioning blocks 45, the number of the positioning blocks 45 is set according to the number of the suture needles 41, the positioning blocks 45 are fixedly installed at the top ends of the third through holes, a fourth through hole is formed in the center of each positioning block 45, and the other end of each suture needle 41 extends out of the fourth through hole.
The end of the casing 1 is provided with a needle outlet 46, the number of the needle holes is one, and the positions of the needle holes are arranged according to the rotating positions of the sewing needles 41, so that the sewing needles 41 can be ejected from the needle holes after rotating.
The working principle of the embodiment is as follows:
when the electromagnetic relay 31 is turned on, the electromagnetic relay 31 generates magnetic force after being energized, and attracts the iron sheet on the first base 22, and at this time, the first spring 32 is in a compressed state, and the suture needle 41 is not ejected. Before closing the electromagnetic relay 31, the first IPMC strip 242 and the diagonal IPMC sheet 212 are energized, and the specific energization position and the energization mode are the prior art, the end portion of the first IPMC strip 242 close to the first base 22 is bent, the end portion of the first IPMC strip 242 is clamped on the side wall of the first base 22 to fasten the first base 22, and the diagonal IPMC sheet 212 is bent toward the same direction, so that the rotary driving unit 21 rotates clockwise to form a spiral shape and simultaneously drives the second base 23 to rotate, and drives the sixth base 43 to rotate by a certain angle, thereby driving the sewing needle 41 on the sixth base 43 to rotate to the needle outlet 46, and keeping the state.
Then the electromagnetic relay 31 is closed, after the electromagnetic relay 31 is powered off, the magnetic force disappears, the first spring 32 pops up, one end of the first spring 32 abuts against the bottom wall of the first base 22, the first base 22 is driven to move towards the needle outlet 46, the third base 241 slides relative to the inner side wall of the shell 1, the sewing needle 41 extends out, and the sewing needle 41 pops up the needle outlet 46 due to the elasticity of the second spring 44.
After the sewing needle 41 is ejected, if the needle needs to be changed, the above steps are repeated, after the operation is finished, if the sewing needle 41 needs to be returned to the needle changing equipment, the above steps are repeated, the sixth base 43 is rotated to the needle outlet 46, the electromagnetic relay 31 is turned on, then the sewing end of the sewing needle 41 is inserted into the second spring 44, the first spring 32 is compressed, the iron sheet on the first base 22 is sucked again, then the first IPMC strip 242 and the IPMC sheet 212 at the diagonal angle are electrified to drive the sixth base 43 to rotate by a certain angle, the positioning block 45 where the sewing needle 41 is not placed is aligned to the needle outlet 46, and the other sewing needles 41 are continuously placed.
Since the IPMC sheet 212 is hard to rotate at a large angle at a time, after the sixth chassis 43 is rotated for the first time, the IPMC sheet 212 at the diagonal angle is turned off, the second IPMC strip 252 and the IPMC sheet 212 at a different diagonal angle are energized, the second IPMC strip 252 is bent near the end of the second chassis 23, the end of the second IPMC strip 252 is engaged with the sidewall of the second chassis 23, the second chassis 23 is fastened, and the IPMC sheet 212 at the diagonal angle is bent in the same direction, so that the rotation driving unit 21 rotates clockwise to form a spiral shape and drives the first chassis 22 to rotate.
Then, the process of rotating the second base 23 and the first base 22 is repeated, so that the rotary driving unit 21 completes clockwise and counterclockwise multi-turn rotation, and the degree of freedom of rotation is greatly improved.
The elastic membrane 211 in the present invention is soft, but the IPMC has electrodes attached to both sides, and the output force is large when power is applied, so that the force can be transmitted.
The beneficial effects of the embodiment are that: the needle changing equipment can realize the non-intermittent needle changing process by electrifying and powering off different parts, thereby simplifying the hand sewing process.
The rotary driving unit 21 of the present invention can complete clockwise and counterclockwise multi-turn rotation, and greatly improves the degree of freedom of rotation.
Each part of the invention adopts IPMC material, and has the advantages of light weight, low-pressure driving, high transmission efficiency, environmental protection and the like.
Example 2
This embodiment is different from embodiment 1 in that: as shown in fig. 8-10, in order to increase the force, the elastic film 211 is two pieces, the two pieces of elastic film 211 are overlapped in a shadow, and two ends of each elastic film 211 are respectively mounted on the first base 22 and the second base 23 through two first clamping blocks (not shown) and two second clamping blocks.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
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| CN115956964A (en) * | 2022-11-29 | 2023-04-14 | 上海哈易拿医疗科技有限公司 | Thread delivery method for tension-reducing skin suture |
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| CN113576569B (en) | 2024-06-04 |
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