Laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps

Abstract

The present invention relates to the field of medical devices, and specifically to a laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps, comprising a forceps head structure, a connecting tube, and an electric wire for providing a bipolar voltage to the forceps head structure, and also comprising a support frame, a handle, a movable joint, and a driving mechanism; the movable joint is arranged between the forceps head structure and the connecting tube, and one end of the movable joint close to the forceps head structure is provided with a plurality of groups of circumferentially distributed transmission connecting wire groups, and the transmission connecting wire groups pass through the other end of the movable joint and the connecting tube to connect the driving mechanism; the support frame is connected to the connecting tube, and one end of the support frame is provided with an installation cavity, and a driving mechanism is arranged in the installation cavity, and the handle is connected to the support frame. The forceps head structure of the present invention can rotate and deflect, which improves the degree of freedom and flexibility of the forceps head structure, and can be used not only as an electrocoagulation forceps, but also as a clamping forceps for suture needles, which is more conducive to the operator's surgical actions and improves the feasibility of surgical operations.

Description

Technical Field

[0001] The invention relates to the field of medical instruments, and in particular to a laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps. Background Art

[0002] During laparoscopic surgery, energy instruments are used to separate, grasp, and coagulate the ends of blood vessels. Ultrasonic scalpels and high-frequency bipolar electrocoagulation forceps are commonly used. High-frequency bipolar electrocoagulation forceps can provide a more stable electrocoagulation hemostasis effect during laparoscopic surgery, ensure absolute safety of peripheral nerve tissue, and reduce or even avoid the use of vascular clamps to reduce the cost burden on patients. However, the current bipolar electrocoagulation forceps used in laparoscopic surgery have poor flexibility, and the rotation and deflection of the forceps head can only be adjusted by the operator changing the position of the handle, which requires the operator's elbow to move over a large range, which is not conducive to the operation of the operation and has an adverse effect on the patient's surgical trauma site. Summary of the invention

[0003] In order to solve the problem of poor flexibility of the clamp head of bipolar coagulation forceps, the present invention provides a laparoscopic multi-degree-of-freedom motion-sensing bipolar coagulation forceps. The clamp head structure can rotate and deflect, thereby improving the degree of freedom and flexibility of the clamp head structure. The bipolar coagulation forceps can be used not only as a coagulation forceps, but also as a clamping forceps for suture needles, which is more conducive to the operator's surgical actions and improves the feasibility of surgical operations.

[0004] In order to achieve the above object, the technical solution of the present invention is:

[0005] Laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps, comprising a forceps head structure, a connecting tube and wires for providing bipolar voltage to the forceps head structure, and also comprising a support frame, a handle, a movable joint and a driving mechanism;

[0006] The movable joint is arranged between the clamp head structure and the connecting tube, and a plurality of transmission connecting wire groups distributed circumferentially are arranged at one end of the movable joint close to the clamp head structure, each transmission connecting wire group includes two connecting wires, and the two connecting wires are symmetrically distributed with the central axis of the movable joint as the symmetry axis, and the transmission connecting wire group passes through the other end of the movable joint and the connecting tube to connect the driving mechanism;

[0007] The support frame is connected to the connecting pipe, one end of the support frame is provided with a mounting cavity, the mounting cavity is communicated with the connecting pipe, a driving mechanism is arranged in the mounting cavity, the driving mechanism comprises a plurality of deflection motors and a deflection wheel, the deflection wheel is arranged at the power output end of the deflection motor, a group of transmission connecting wires is arranged around the deflection wheel, and the two connecting wires of each group are wound around the deflection wheel in opposite directions;

[0008] The handle is connected to the support frame.

[0009] In a further preferred embodiment, the clamp head structure includes a first clamp head, a second clamp head and a mounting frame, the first clamp head is fixedly connected to the mounting frame, the second clamp head is rotatably connected to the mounting frame via a rotating shaft, the mounting frame is U-shaped, the rotating shaft is rotatably set between two vertical sections of the mounting frame, a tensioning line is wound around the rotating shaft, and the driving mechanism also includes a tensioning motor, the tensioning line passes through a movable joint and a connecting tube to transmit and connect the tensioning motor.

[0010] In a further preferred embodiment, two limit plates 106 are provided on the rotating shaft, and the two limit plates are located on both sides of the opening and closing line; and a torsion spring is provided between the mounting frame and the rotating shaft.

[0011] In a further preferred embodiment, the middle portion of the support frame is bow-shaped, a mounting ring is provided at the other end of the support frame, a rotating sleeve is rotatably provided at the front end of the handle, two symmetrically distributed connecting bridges are provided between the front end of the mounting ring and the rotating sleeve, and one end of the connecting bridge is hinged to the mounting ring and the other end is hinged to the rotating sleeve.

[0012] In a further preferred embodiment, the connecting bridge is arc-shaped and is composed of a plurality of rectangular sheets fixedly connected in sequence. The rectangular sheets are sheet structures made of flexible materials, and the thickness of the middle portion of the rectangular sheet is greater than the thickness of the two sides.

[0013] In a further preferred embodiment, it also includes a sensor control system, which is arranged in the handle. The sensor control system includes a gyroscope chip, a control mainboard, a power supply, a power switch and an opening and closing motor control switch. The gyroscope chip transmits motion data to the control mainboard, the control mainboard is electrically connected to the deflection motor, the power supply supplies power to the control mainboard, the deflection motor and the opening and closing motor, the power switch is arranged at the head of the handle, and the opening and closing motor control switch is arranged at the lower part of the handle.

[0014] In a further preferred embodiment, the movable joint includes two support rings and a connecting ball located between the two support rings, one support ring is fixedly connected to the mounting frame, and the other support ring is fixedly connected to the connecting pipe. Two sliding bars are symmetrically arranged on the support ring, and the sliding bars on the two support rings are staggered. The sliding bars are arc-shaped, and four sliding grooves are provided on the connecting ball. The sliding grooves cooperate with the sliding bars, and the length of the sliding grooves is greater than the length of the sliding bars; a through hole is provided in the middle of the connecting ball for the tensioning line to pass through, and the connecting ball is provided with conical grooves at both ends of the through hole.

[0015] In a further preferred embodiment, the movable joint includes two fixed rings and three connecting columns located between the two fixed rings, one fixed ring is fixedly connected to the mounting frame, and the other fixed ring is fixedly connected to the connecting pipe. Three first articulated seats are evenly distributed in a ring on the fixed ring, and the hinge axis of the first articulated seat is parallel to the radial line of the ring. The first articulated seats on the two fixed rings are staggered, and second articulated seats are provided at both ends of the connecting column. The connecting column is spirally shaped, and the three connecting columns are spirally arranged. The first articulated seat and the second articulated seat are connected by a connecting piece.

[0016] In a further preferred embodiment, mounting holes are provided at both ends of the connecting member, the vertical planes where the axes of the two mounting holes are located are perpendicular, one mounting hole is hinged to the first hinge seat, and the other mounting hole is hinged to the second hinge seat.

[0017] In a further preferred embodiment, a wrist strap is also included.

[0018] Through the above technical solution, the beneficial effects of the present invention are:

[0019] A movable joint is provided between the clamp head structure and the connecting tube of the present invention. The movable joint is driven by a connecting line and a driving mechanism. The driving mechanism drives the connecting line to contract and relax, thereby driving the movable joint to deflect and driving the clamp head structure to shift its position, thereby increasing the freedom and flexibility of the clamp head structure.

[0020] The support frame and the handle of the present invention are rotatably connected via a rotating sleeve, and the forceps head structure, the movable joint, and the connecting tube are arranged on the support frame. When in use, the handle is held and the rotating sleeve is rotated to drive the support frame to rotate, and then the forceps head structure and the movable joint are driven to rotate, so that the forceps head structure can rotate relative to the surgical field, thereby further improving the flexibility of the forceps head structure, and the action can be operated with one hand, which is simple and easy.

[0021] A connecting bridge is provided between the handle and the support frame of the present invention, and a mounting ring that can be worn on the wrist is provided on the support frame, so that the handle can move relative to the support frame and has multiple degrees of freedom. When the handle moves, the gyroscope chip collects motion data, and controls the deflection motor movement in the corresponding direction by controlling the main board, thereby driving the movable joint to perform corresponding deflection movement, and then driving the pliers head structure to move, achieving synchronization between the handle movement and the pliers head structure movement, and realizing the transmission of the operator's hand movement and the pliers head movement, which is more conducive to the operator's surgical action and improves the feasibility of surgical operations.

[0022] The bipolar electrocoagulation forceps of the present invention have high degree of freedom and high flexibility, and can be used not only as electrocoagulation forceps, but also as clamping forceps for suture needles, thereby improving the operability and flexibility of laparoscopic suture surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the clamp head structure of the present invention;

[0025] Figure 3 It is a schematic diagram of the structure of the mounting frame, the rotating shaft and the torsion spring of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the installation cavity and the driving mechanism of the present invention;

[0027] Figure 5 It is a schematic diagram of the logic control of the sensor control system, the deflection motor, and the opening and closing motor of the present invention;

[0028] Figure 6 is a schematic structural diagram of a movable joint in the first embodiment;

[0029] Figure 7 Schematic diagrams of the connecting ball: (a) is a schematic diagram of the front end of the connecting ball, and (b) is a schematic diagram of the rear end of the connecting ball;

[0030] Figure 8 is a schematic structural diagram of a movable joint of Embodiment 2;

[0031] Fig. 9 It is a schematic structural diagram of the fixing ring, the first hinge seat, the second hinge seat and the connecting piece at the rear end of the second embodiment.

[0032] The numbers in the accompanying drawings are: 1 is a clamp head structure, 10 is an electric wire, 101 is a first clamp head, 102 is a second clamp head, 103 is a mounting frame, 104 is a rotating shaft, 105 is an opening and closing line, 106 is a limit plate, 107 is a torsion spring, 2 is a connecting pipe, 3 is a supporting frame, 301 is a mounting ring, 4 is a handle, 401 is a rotating sleeve, 5 is a driving mechanism, 501 is a deflection motor, 502 is a deflection wheel, 503 is an opening and closing motor, 6 is a connecting bridge, 7 is a movable joint, 701 is a supporting ring, 702 is a connecting ball, 703 is a sliding bar, 801 is a fixing ring, 802 is a connecting column, 803 is a first hinge seat, 804 is a second hinge seat, 805 is a connecting piece, 9 is an insulating sleeve, 13 is an opening and closing motor control switch, 11 is a power switch, and 12 is a connecting wire. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0034] In the description of the present invention, it should be understood that the terms "left", "right", "up", "down", "horizontal", "vertical" and the like indicate directions or positional relationships based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0035] Embodiment 1

[0036] like Figure 1 to Figure 7 As shown, this embodiment provides a laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps, including a clamp head structure 1, a connecting tube 2, and a wire 10 for providing a bipolar voltage to the clamp head structure 1, and the wire 10 is connected to a high-frequency host to supply a bipolar voltage to the clamp head structure to achieve an electrocoagulation function. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps of this embodiment also include a support frame 3, a handle 4, a movable joint, and a driving mechanism 5. The movable joint 7 is arranged between the clamp head structure 1 and the connecting tube 2. The movable joint 7 is provided with a plurality of circumferentially distributed transmission connecting wire groups at one end close to the clamp head structure 1. Each transmission connecting wire group includes two connecting wires 12. The two connecting wires are symmetrically distributed with the central axis of the movable joint as the symmetry axis. The transmission connecting wire group passes through the other end of the movable joint and the connecting tube 2 to connect to the driving mechanism 5. The driving mechanism 5 drives each group of transmission connecting wires to extend or shorten, thereby driving the deflection in the direction formed by the group of connecting wires. As a specific embodiment, the number of transmission connecting wire groups is two groups, and the four connecting wires are respectively arranged in the upper, lower, left and right directions of the movable joint, so as to control the deflection in the upper and lower directions and the deflection in the left and right directions.

[0037] The support frame 3 is connected to the connecting tube 2, and an installation cavity is provided at one end of the support frame 3, and the installation cavity is communicated with the connecting tube 2. A driving mechanism 5 is provided in the installation cavity, and the driving mechanism 5 includes two deflection motors 501 and two deflection wheels 502. The deflection wheel 502 is provided at the power output end of the deflection motor 501, and a group of transmission connecting wire groups are wound around the deflection wheel 502. The two connecting wires of each group are wound in opposite directions on the deflection wheel 502. For example, for the deflection wheel 502 connecting the connecting wires in the upper and lower directions, when the wheel rotates forward, the upper connecting wire is wound and the lower connecting wire is loosened, thereby shortening the upper connecting wire and lengthening the lower connecting wire, and the pliers head is deflected upward; the handle 4 is movably connected to the support frame 3, and the handle 4 is used for the operator to hold, so as to facilitate the operation of the electrocoagulation forceps. A guide roller corresponding to the connecting wire is also provided in the installation cavity. The guide roller guides the laying path of the connecting wire, so that after the connecting wire extends from the connecting tube 2 into the installation cavity, it can be smoothly laid on the corresponding deflection wheel 502 to avoid winding of the connecting wires.

[0038] As mentioned above, the clamp head structure 1 includes a first clamp head 101, a second clamp head 102 and a mounting frame 103, wherein the first clamp head 101 is fixedly connected to the mounting frame 103, and the second clamp head 102 is rotatably connected to the mounting frame 103 via a rotating shaft 104. Specifically, the second clamp head 102 is fixedly connected to the rotating shaft 104, and the mounting frame 103 is U-shaped. The rotating shaft 104 is rotatably arranged between two vertical sections of the mounting frame 103, and a tensioning line 105 is wound around the rotating shaft 104. The driving mechanism 5 also includes a tensioning motor 503, and the tensioning line 105 passes through a movable joint and a connecting tube 2 to be connected to the tensioning motor 503. The tensioning line 105 is driven by the tensioning motor 503 to rotate and wind, so that the length of the tensioning line 105 between the tensioning motor 503 and the rotating shaft 104 is shortened, thereby driving the rotating shaft 104 to rotate, so that the second clamp head 102 is opened, and then the clamp head structure 1 is in an open state.

[0039] In order to further ensure the motion transmission accuracy and follow-up efficiency of the winding of the tensioning and closing line to the rotation of the rotating shaft 104, two limit plates 106 are arranged on the rotating shaft 104. The two limit plates 106 are located on both sides of the tensioning and closing line 105. The distance between the two limit plates 106 is the diameter of the tensioning and closing line 105 or slightly larger than the diameter of the tensioning and closing line, so that the limit plates 106 are in contact with each circle of the tensioning and closing line wound on the rotating shaft, so that the winding of the tensioning and closing line on the rotating shaft 104 is a planar spiral path, ensuring that the end position of the tensioning and closing line 105 is in the middle of the pliers head and will not shift laterally with the rotation of the rotating shaft.

[0040] To facilitate the automatic closing of the clamp head structure 1, a torsion spring 107 is arranged between the mounting frame 103 and the rotating shaft 104. Specifically, the torsion spring 107 is sleeved on the rotating shaft 104, one end of the torsion spring 107 is fixed to the mounting frame 103, and the other end is fixed to the rotating shaft 104. When the clamp head structure is in a closed state, the torsion spring 107 is in an initial state. When the rotating shaft rotates in the direction of opening the clamp head structure, the second clamp head 102 opens, and the torsion spring accumulates elastic force. When the opening and closing motor 503 rotates in the opposite direction to reduce the tensioning force on the opening and closing line 105, under the action of the elastic force of the torsion spring, the rotating shaft 104 and the second clamp head 102 rotate and reset, thereby closing the clamp head structure 102.

[0041] Specifically, the first clamp head 101, the second clamp head 102 and the mounting frame 103 are all made of insulating materials, and pads for conducting electricity are arranged on the opposite sides of the first clamp head 101 and the second clamp head 102, and the ends of the two pads are respectively connected to the two electrode wires of the wire 10. The electrode wire connected to the pad on the first clamp head 101 is buried on the mounting frame 103 and passes through the middle of the lower end of the mounting frame 103; the electrode wire connected to the pad on the second clamp head 102 is partially exposed, and after the exposed part bypasses the position of the limit plate 106, it converges with another electrode wire at the middle of the lower end of the mounting frame 103, and passes through the middle of the lower end of the mounting frame 103 together. The wire 10 passing through the mounting frame 103 is exposed after passing through the mounting frame 103, or passes through the movable joint, the connecting tube 2 and the support frame 3, and is exposed after passing through the support frame 3. In this embodiment, the electric wire 10 and the tensioning wire 10 pass through the movable joint, the connecting tube 2 and the supporting frame 3, and then pass through the supporting frame 3 to be exposed.

[0042] As mentioned above, the middle part of the support frame 3 is in an arch shape, and a mounting ring 301 is provided at the other end of the support frame 3. The handle 4 corresponds to the arch structure of the support frame, and a rotating sleeve 401 is rotatably provided at the front end of the handle 4. Two symmetrically distributed connecting bridges 6 are provided between the front end of the mounting ring 301 and the rotating sleeve 401. One end of the connecting bridge 6 is hinged to the mounting ring 301, and the other end is hinged to the rotating sleeve 401, so that the handle has a certain displacement space and kinematic pair relative to the support frame 3, and the handle can be moved, deflected and rotated relative to the support frame 3. In the use state, the operator's wrist passes through the mounting ring 301, the hand holds the handle, and the thumb and index finger cooperate to rotate the rotating sleeve 401, thereby driving the support frame 3, the connecting tube 2 and the clamp head structure 1 to rotate through the connecting bridge 6, so that the clamp head can adjust the clamping surface relative to the surgical field, making the clamp head more flexible.

[0043] As mentioned above, the connecting bridge 6 is arc-shaped, and is composed of a plurality of rectangular sheets that are fixedly connected in sequence. The rectangular sheets are sheet-like structures made of flexible materials, and the thickness of the middle of the rectangular sheets is greater than the thickness of the two sides, so that the rectangular sheets and the connecting bridge have a certain strength. The connecting bridge 6 has a certain strength to ensure the connection strength and synchronization of the rotating movement between the rotating sleeve 401 and the mounting ring 301, and can also be slightly deformed so that the position of the handle can be moved relative to the support frame 3, such as shifting in the upward, downward, left and right directions.

[0044] Furthermore, the electrocoagulation forceps also includes a sensor control system, which is arranged in the handle 4, and the sensor control system includes a gyroscope chip, a control mainboard, a power supply, a power switch and an opening and closing motor control switch 13. The gyroscope chip transmits the motion data of the handle in the up, down, left and right directions to the control mainboard, and the control mainboard is electrically connected to the two deflection motors 501. The control mainboard calculates the motion data of the gyroscope chip into a switch signal of the two deflection motors 501, so that the opening and closing of the two deflection motors 501 can follow the movement of the handle, thereby achieving the purpose of synchronizing the deflection movement of the clamp head structure with the deflection movement of the handle. The power supply supplies power to the control mainboard, the deflection motor 501 and the opening and closing motor 503. The two ends of the power supply line and the connection line between the control mainboard and the deflection motor 501 are respectively rotated through the rotating sleeve 401 and the support frame 3, and the exposed part of the line is provided with an insulating sleeve 9. The power switch 11 is arranged at the head of the handle, and the power switch 11 is a switch for controlling the on and off of the power supply; the opening and closing motor control switch 13 is arranged at the lower part of the handle 4, and is used to turn on and off the circuit between the power supply and the opening and closing motor 503, thereby controlling the on and off of the opening and closing motor 503, that is, controlling the opening and closing of the opening and closing motor 503, and controlling the opening and closing of the clamp head structure.

[0045] In this embodiment, the movable joint includes two support rings 701 and a connecting ball 702 located between the two support rings 701. The front support ring 701 is fixedly connected to the mounting frame 103, and the support ring 701 is fixedly connected to the end of each connecting wire 12; the rear support ring 701 is fixedly connected to the connecting pipe 2, and a guide wheel (not shown in the figure) is rotatably arranged on the support ring 701. The guide wheel corresponds to the connecting wire, and the guide wheel guides the connecting wire. In order to ensure the guiding effect of the guide wheel on the connecting wire and prevent the connecting wire from being separated from the guide wheel, when the connecting wire passes through the guide wheel, it is at least wrapped around the guide wheel for one circle, and the connecting wire passes through the inner hole of the support ring 701 after bypassing the guide wheel. Two sliding bars 703 are symmetrically arranged on the support ring 701. The sliding bars 703 on the two support rings 701 are staggered, and the positions of the four sliding bars 703 correspond to the positions of the four connecting lines respectively. The sliding bar 703 is arc-shaped, and four sliding grooves are provided on the connecting ball 702. The sliding grooves cooperate with the sliding bars 703. The length of the sliding grooves is greater than the length of the sliding bars 703. The sliding bars and the connecting balls can slide relative to each other through the sliding grooves; a through hole for the opening and closing line 105 to pass through is provided in the middle of the connecting ball 702. In order to ensure that the bending angle of the opening and closing line 105 is reduced when the front support ring 701 is deflected, the connecting ball 702 is provided with conical grooves at the front and rear ends of the through hole. When the deflection motor 501 drives the corresponding connecting wire to contract or extend, such as the connecting wire in the up-down direction, the support ring 701 at the front end of the movable joint drives the connecting ball to deflect in the up-down direction, and the sliding bar 703 and the slide groove in the up-down direction move, that is, the front support ring 701 drives the connecting ball and the rear support ring to deflect relative to each other, thereby realizing the deflection of the position of the clamp head structure 1 in the up-down direction. When the left-right direction deflection movement is driven by the left-right connecting wires, the front support ring 701 deflects relative to the connecting ball and the rear support ring 701.

[0046] In order to increase the friction between the wrist and the mounting ring 301, the present invention further includes a wrist strap (not shown in the figure), which can be tied around the wrist and then passed through the mounting ring 301. After the friction between the wrist and the mounting ring is increased, the possibility of the deflection movement of the handle driving the support frame 3 to move is reduced, thereby achieving a noise reduction effect.

[0047] Usage process:

[0048] The wire 10 is connected to the high-frequency host, and the high-frequency host controls the electrocoagulation process; the operator ties a bandage on his wrist, passes his wrist through the mounting ring 301, and holds the handle 4.

[0049] Deflection of the pliers head: Taking the deflection in the up and down direction as an example, when the handle 4 deflects in the up and down direction, the gyroscope chip collects motion data and transmits it to the control main board. The control main board outputs a signal to the deflection motor in the up and down direction to control the start of the deflection motor. The deflection motor receives the signal and starts, driving the transmission connecting wire group on the deflection wheel to move in one direction, so that one connecting wire is wound and contracted, and the other connecting wire is relaxed and stretched, so that the other ends of the two connecting wires undergo corresponding movements, thereby driving the support ring 701 at the front end to shift its position, thereby realizing the deflection of the pliers head in the up and down direction.

[0050] Opening and closing of the clamp head: Press the opening and closing motor control switch to turn on the opening and closing motor 503, drive the opening and closing wire 105 to wind and form a contracted state, so that the front end of the opening and closing wire 105 drives the rotating shaft 104 to rotate, and then drives the second clamp head 102 to open relative to the first clamp head 101, so that the clamp head is opened. When the clamp head needs to be closed, turn off the opening and closing motor 503, release the tension of the opening and closing wire 105, and then under the action of the torsion spring, the rotating shaft 104 rotates in the opposite direction and resets, and then the second clamp head 102 is closed, so that the clamp head is closed. Electrocoagulation can be performed in the closed state of the clamp head, or when non-electrocoagulation is performed, the clamp head can clamp the suture needle and drive the suture needle to suture in laparoscopic surgery.

[0051] Embodiment 2

[0052] This embodiment is basically the same as the first embodiment, and the similarities are not repeated here. The differences are as follows:

[0053] like Figure 8-9 As shown, the movable joint of this embodiment includes two fixing rings 801 and three connecting columns 802 located between the two fixing rings. The fixing ring 801 at the front end is fixedly connected to the mounting frame 103, and the fixing ring 801 at the rear end is fixedly connected to the connecting pipe 2. Three first hinge seats 803 are evenly distributed in an annular shape on the fixing ring 801. The hinge axis of the first hinge seat 803 is parallel to the radial line of the annular shape. The first hinge seats 803 on the two fixing rings 801 are arranged in an interlaced manner. The two ends of the connecting column 802 are provided with a second hinge seat 804. The connecting column 802 is spirally shaped. The three connecting columns 802 are arranged in a spiral shape. The first hinge seat 803 and the second hinge seat 804 are connected by a connecting piece 805. In order to reduce the wear of the connecting line when the movable joint deflects, the fixing ring 801 located on the side of the connecting pipe 2 is rotatably provided with a guide wheel (not shown in the figure), which corresponds to the connecting line. The connecting line is wound around the guide wheel at least once, and the connecting line passes through the fixing ring 801 and then passes into the connecting pipe 2. In this embodiment, the wire 10 passes through the middle of the front fixing ring, passes through the middle positions of the three connecting columns 802, and then passes through the rear fixing ring, enters the connecting tube 2, and then passes through the support frame.

[0054] As mentioned above, both ends of the connecting member 805 are provided with mounting holes, the vertical planes where the axes of the two mounting holes are located are perpendicular, one mounting hole is hinged to the first hinge seat 803, and the other mounting hole is hinged to the second hinge seat 804. There are two rotation centers between the second connecting seat 804 and the first connecting seat 803, so that the movement of the connecting column 802 relative to the fixing ring 801 is more flexible, so that when a certain connecting line is shortened, it is ensured that the movable joint can deflect in the up, down, left and right directions, and is more flexible.

[0055] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps, comprising a forceps head structure (1), a connecting tube (2) and an electric wire (10) for providing a bipolar voltage to the forceps head structure (1), characterized in that: It also includes a support frame (3), a handle (4), a movable joint (7) and a driving mechanism (5); The movable joint is arranged between the clamp head structure (1) and the connecting tube (2); a plurality of circumferentially distributed transmission connecting wire groups are arranged at one end of the movable joint close to the clamp head structure (1); each transmission connecting wire group comprises two connecting wires (12); the two connecting wires are symmetrically arranged with the central axis of the movable joint as the symmetry axis; the transmission connecting wire group passes through the other end of the movable joint and the connecting tube (2) to connect to the driving mechanism (5); The support frame (3) is connected to the connecting tube (2); a mounting cavity is provided at one end of the support frame (3); the mounting cavity is in communication with the connecting tube (2); a driving mechanism (5) is provided in the mounting cavity; the driving mechanism (5) comprises a plurality of deflection motors (501) and a deflection wheel (502); the deflection wheel (502) is provided at the power output end of the deflection motor (501); a group of transmission connecting wires is wound around the deflection wheel (502); the two connecting wires of each group are wound around the deflection wheel (502) in opposite directions; The handle (4) is connected to the support frame (3); The clamp head structure (1) comprises a first clamp head (101), a second clamp head (102) and a mounting frame (103); the first clamp head (101) is fixedly connected to the mounting frame (103); the second clamp head (102) is rotatably connected to the mounting frame (103) via a rotating shaft (104); the mounting frame (103) is U-shaped; the rotating shaft (104) is rotatably arranged between two vertical sections of the mounting frame (103); a tensioning line (105) is wound around the rotating shaft (104); the driving mechanism (5) further comprises an tensioning motor (503); the tensioning line (105) passes through a movable joint and a connecting tube (2) to be transmission-connected to the tensioning motor (503); Two limit plates (106) are arranged on the rotating shaft (104), and the two limit plates (106) are located on both sides of the opening and closing line (105); The movable joint (7) comprises two fixing rings (801) and three connecting columns (802) located between the two fixing rings, one fixing ring (801) is fixedly connected to the mounting frame (103), and the other fixing ring (801) is fixedly connected to the connecting pipe (2). Three first hinge seats (803) are evenly distributed in a ring on the fixing ring (801), and the hinge axes of the first hinge seats (803) are parallel to the radial lines of the ring. The first hinge seats (803) on the two fixing rings (801) are arranged in a staggered manner. Second hinge seats (804) are arranged at both ends of the connecting column (802), and the connecting column (802) is spirally shaped. The three connecting columns (802) are spirally arranged, and the first hinge seat (803) and the second hinge seat (804) are connected via a connecting piece (805).

2. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: A torsion spring is provided between the mounting frame (103) and the rotating shaft (104).

3. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: The middle part of the support frame (3) is in an arch shape, and a mounting ring (301) is provided at the other end of the support frame (3). A rotating sleeve (401) is rotatably provided at the front end of the handle (4), and two symmetrically distributed connecting bridges (6) are provided between the front end of the mounting ring (301) and the rotating sleeve (401), and one end of the connecting bridge (6) is hinged to the mounting ring (301), and the other end is hinged to the rotating sleeve (401).

4. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 3, characterized in that: The connecting bridge (6) is arc-shaped and is composed of a plurality of rectangular sheets that are fixedly connected in sequence. The rectangular sheets are sheet-like structures made of flexible materials, and the thickness of the middle portion of the rectangular sheet is greater than the thickness of the two sides.

5. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: The invention also comprises a sensor control system, the sensor control system being arranged in the handle (4), the sensor control system comprising a gyroscope chip, a control mainboard, a power supply, a power switch (11) and an opening and closing motor control switch (13), the gyroscope chip transmitting motion data to the control mainboard, the control mainboard being electrically connected to the deflection motor (501), the power supply supplying power to the control mainboard, the deflection motor (501) and the opening and closing motor (503), the power switch (11) being arranged at the head of the handle, and the opening and closing motor control switch (13) being arranged at the lower part of the handle (4).

6. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: The movable joint (7) comprises two support rings (701) and a connecting ball (702) located between the two support rings (701); one support ring (701) is fixedly connected to the mounting frame (103), and the other support ring (701) is fixedly connected to the connecting pipe (2); two sliding bars (703) are symmetrically arranged on the support ring (701); the sliding bars (703) on the two support rings (701) are staggered, and the sliding bars (703) are arc-shaped; four sliding grooves are provided on the connecting ball (702); the sliding grooves cooperate with the sliding bars (703), and the length of the sliding grooves is greater than the length of the sliding bars (703); a through hole for the opening and closing line (105) to pass through is provided in the middle of the connecting ball (702), and the connecting ball (702) is provided with conical grooves at both ends of the through hole.

7. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: Both ends of the connecting member (805) are provided with mounting holes, the vertical planes where the axes of the two mounting holes are located are perpendicular, one mounting hole is hinged to the first hinge seat (803), and the other mounting hole is hinged to the second hinge seat (804).

8. The laparoscopic multi-degree-of-freedom motion-sensing bipolar electrocoagulation forceps according to claim 1, characterized in that: Also includes wrist straps.

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