Minimally invasive surgical forceps with external transmission cable

Abstract

The present invention relates to the field of medical devices, and specifically to a minimally invasive surgical forceps with an external transmission steel cable, comprising a base, a support rod and an end assembly, the support rod being a solid structure, one end of the support rod being connected to the base, and the other end of the support rod being connected to the end assembly, the end assembly comprising a wrist, a finger A and a finger B, the wrist of the end assembly being rotatably connected to the support rod via a pin E, and the fingers A and B being rotatably connected to the other end of the wrist via a pin B, the wrist, finger A and finger B respectively rotating around the pin E and the pin B under the pulling of the steel cable, the steel cable being externally arranged on the outer surface of the support rod, and the rotation of the wrist drives the fingers A and B to perform corresponding rotational motion, and the rotation of the fingers A and B enables the surgical forceps to clamp and open; compared with the prior art, the present invention adopts a novel solid support rod structure and an external steel cable structure, thereby solving the problem that the sterilization and disinfection of the surgical forceps are more difficult and more expensive due to the hollow support tube and the built-in steel cable.

Description

[Technical field]

[0001] The present invention relates to the field of medical instruments, in particular to a minimally invasive surgical forceps with an external transmission cable used in a laparoscopic surgical robot. [Background Technology]

[0002] Laparoscopic minimally invasive surgical robots are gaining increasing market recognition, boasting the advantages of traditional minimally invasive surgery, such as small surface incision, minimal bleeding, low risk of postoperative infection, and rapid recovery, while also boasting unique features like master-slave hand-eye coordination and physiological vibration filtering. In addition to a master-slave laparoscopic surgical robot developed abroad, which has entered operating rooms in major hospitals worldwide, numerous research institutions and medical device developers, both domestically and internationally, have developed similar minimally invasive surgical robots in recent years.

[0003] Currently, these laparoscopic surgical robots all use multi-jointed robotic arms to operate specialized end-use surgical instruments. Typically, these end-use instruments consist of a driving base, a support tube, and an actuator. The support tube is a hollow tube that connects the driving base and the actuator. Depending on the function of the actuator, these end-use instruments can be categorized as surgical forceps, surgical scissors, and energy-based surgical instruments.

[0004] Minimally invasive surgical forceps are used frequently and have four degrees of freedom of movement: the rotation of the support tube, the rotation of the "wrist" of the executable part, and the rotation of the two "fingers" of the executable part. In order to meet the requirement of a small surgical incision, the three degrees of freedom of the executable part are driven by a steel cable. The steel cable is built into the support tube, with one end fixed to the executable part and the other end fixed to the drive base. The hollow support tube and the built-in steel cable structure make the sterilization and disinfection of surgical forceps more difficult and costly. In addition, this structure also makes it difficult to further reduce the outer diameter of the support tube - the outer diameter of the current terminal instrument support tube is generally 8mm.

[0005] If a new type of minimally invasive surgical forceps with an external transmission cable can be provided to solve the current problem of difficulty and high cost in sterilizing and disinfecting the terminal instruments of laparoscopic surgical robots, it will have a positive effect on the promotion of robotic minimally invasive surgery. [Summary of the invention]

[0006] The purpose of the present invention is to solve the above-mentioned shortcomings and provide a minimally invasive surgical forceps with an external transmission cable. It adopts a new solid support rod structure and an external cable structure, which solves the problem that the hollow support tube and the built-in cable increase the difficulty and cost of sterilizing the surgical forceps.

[0007] In order to achieve the above-mentioned purpose, a minimally invasive surgical forceps with an external transmission cable is designed, comprising a base 9, a support rod 16 and an end assembly 12, wherein the support rod 16 is a solid structure, one end of the support rod 16 is connected to the base 9, and the other end of the support rod 16 is connected to the end assembly 12, and the end assembly 12 comprises a wrist 13, a finger A 14 and a finger B 15, the wrist 13 of the end assembly 12 is rotatably connected to the support rod 16 through a pin E 40, and the finger A 14 and the finger B 15 are rotatably connected to the other end of the wrist 13 through a pin B 29, and the wrist 13, the finger A 14 and the finger B 15 rotate around the pin E 40 and the pin B 29 respectively under the traction of the cable, and the cable is externally placed on the outer surface of the support rod 16, and after the wrist 13 rotates, the finger A 14 and the finger B 15 make corresponding rotational motion, and the finger A 14 and the finger B The surgical forceps can be clamped and opened after 15 rotations, solving the current problem of difficulty and high cost in sterilizing and disinfecting the terminal instruments of laparoscopic surgical robots.

[0008] Furthermore, the outer surface of the support rod 16 is provided with grooves A 57, groove B 58, groove C59, groove D 60, groove E 61 and groove F 62 extending in the axial direction, the groove A 57 and groove D 60 are arranged in pairs and the steel cable A20 passes through the groove, the groove B 58 and groove E 61 are arranged in pairs and the steel cable C 24 passes through the groove, the groove C 59 and groove F 62 are arranged in pairs and the steel cable B 21 passes through the groove, the steel cable B 21 pulls the wrist 13 to rotate around the rotation axis C 23, the steel cable A 20 pulls the finger A 14 to rotate around the rotation axis A 19, and the steel cable C 24 pulls the finger B 15 to rotate around the rotation axis A 19.

[0009] Furthermore, a winding wheel A 25 and a winding wheel B 30 are provided between the finger A 14 and the finger B 15, and the winding wheel A 25 and the winding wheel B 30 are both passed through the pin shaft B 29; the finger A 14 and the finger B 15 are both provided with a protrusion A 46, and the winding wheel B 30 and the winding wheel A 25 are both provided with an open groove A 47, and the protrusion A 46 is inserted into the open groove A 47, and the winding wheel B 30 and the winding wheel A 25 are respectively wound with a steel cable A 20 and a steel cable C 24, and the steel cable A 20 and the steel cable C 24 are both embedded in the space jointly constructed by the protrusion A 46 and the open groove A 47 by bending, and the protrusion A 46 and the open groove A 47 squeeze the steel cable A 20 and the steel cable C 24 against each other.

[0010] Furthermore, the steel cable A 20 is divided by the bend, and its left and right sides are respectively the left side 51 of the steel cable A and the right side 49 of the steel cable A. After the right side 49 of the steel cable A passes through the winding wheel B 30, it passes through the pulley F 35, the pulley L 44 and the pulley J 42 in sequence and then enters the groove D 60 on the outer surface of the support rod 16. After the left side 51 of the steel cable A passes through the winding wheel B 30, it passes through the pulley B27, the pulley C 32 and the pulley J 42 in sequence and then enters the groove A 57 on the outer surface of the support rod 16.

[0011] Furthermore, the steel cable C 24 is divided by the bend, and its left and right sides are respectively the left side 50 of the steel cable C and the right side 48 of the steel cable C. After the right side 48 of the steel cable C passes through the winding wheel A 25, it passes through the pulley E 34, the pulley K 43 and the pulley I 41 in sequence and then enters the groove E 61 on the outer surface of the support rod 16. After the left side 50 of the steel cable C passes through the winding wheel A 25, it passes through the pulley A26, the pulley D 33 and the pulley H 38 in sequence and then enters the groove B 58 on the outer surface of the support rod 16.

[0012] Furthermore, a winding wheel C 39 is passed through the pin shaft E 40, and an open groove B55 is provided on the winding wheel C 39. A protrusion B 54 is provided on the wrist 13, and the protrusion B 54 is inserted into the open groove B 55. A steel cable B 21 is wound around the winding wheel C 39, and the steel cable B 21 is bent and embedded in the space jointly constructed by the protrusion B 54 on the wrist 13 and the open groove B55 on the winding wheel C 39, and the protrusion B 54 and the open groove B 55 squeeze the steel cable C 24 against each other.

[0013] Furthermore, the steel cable B 21 is divided by the bend, and its left and right sides are respectively the left side 52 of the steel cable B and the right side 56 of the steel cable B. The right side 56 of the steel cable B enters the groove F 62 on the outer surface of the support rod 16 after passing through the winding wheel C 39, and the left side 52 of the steel cable B enters the groove C 59 on the outer surface of the support rod 16 after passing through the winding wheel C 39.

[0014] Furthermore, a drive disk A 10, a drive disk B 11, a drive disk C 17, and a drive disk D 18 are installed on the base 9. The support rod 16 is rotatably connected to the base 9 around the rotation axis B 22 and rotates driven by the drive disk A 10. The drive disk B 11, the drive disk C 17, and the drive disk D 18 are respectively connected to the wrist 13, finger A 14, and finger B 15 through steel cables, and drive the steel cables to perform pulling motion. The drive disk A 10, the drive disk B 11, the drive disk C 17, and the drive disk D 18 respectively control the rotation of the support rod 16, the wrist 13, finger A 14, and finger B 15 through a mechanical transmission mechanism in the base 9.

[0015] Furthermore, the surgical forceps are installed at the end of a robotic arm, the robotic arm is connected to a control cabinet, and is electrically connected to a controller in the control cabinet. The position and posture of the surgical forceps are achieved by controlling the movement of the robotic arm through the controller in the control cabinet.

[0016] Furthermore, the support rod 16 is made of hard metal material or has a hard surface treatment.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] (1) The minimally invasive surgical forceps of the present invention adopt a novel solid support rod structure and an external steel cable structure, which can effectively solve the problem of difficulty in sterilization caused by the internal steel cable;

[0019] (2) The present invention can further reduce the outer diameter of the support rod of the surgical forceps, thereby further reducing the size of the surgical wound;

[0020] (3) The cable distribution method of the present invention allows the use of larger diameter cables for driving, compared to the 0.5 mm diameter cables currently used by most, thereby increasing the tensile strength of the cables and the service life of the surgical forceps.

[0021] (4) The present invention solves the current problem of difficulty and high cost in sterilizing and disinfecting the terminal instruments of laparoscopic surgical robots;

[0022] (5) Based on the above analysis, the minimally invasive surgical forceps with an external steel cable described in the present invention have practical application value and play a positive role in the promotion of robotic minimally invasive surgery. [Brief Description of the Drawings]

[0023] Figure 1 It is a schematic diagram of the application structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the terminal assembly of the present invention;

[0026] Figure 4 It is an exploded schematic diagram of the terminal assembly of the present invention;

[0027] Figure 5 This is an exploded schematic diagram of the steel cable fixing structure of the surgical forceps finger portion of the present invention;

[0028] Figure 6 This is a cross-sectional view of the wrist cable fixing structure of the surgical forceps of the present invention;

[0029] Figure 7 is a cross-sectional view of the support rod and external steel cable of the surgical forceps of the present invention;

[0030] Figure 8 This is a schematic diagram of the internal mechanical transmission mechanism of the base of the present invention;

[0031] In the figure: 1. Operating table 2. Patient 3. Control cabinet A 4. Robotic arm A 5. Surgical forceps A 6. Surgical forceps B 7. Robotic arm B 8. Control cabinet B 9. Base 10. Drive disc A 11. Drive disc B 12. End assembly 13. Wrist 14. Finger A 15. Finger B 16. Support rod 17. Drive disc C 18. Drive disc D 19. Rotating axis A 20. Steel cable A 21. Steel cable B 22. Rotating axis B 23. Rotating axis C 24. Steel cable C 25. Winding wheel A 26. Pulley A 27. Pulley B 28. Pin A 29. Pin B 30. Winding wheel B 31. Pin C 32. Pulley C 33. Pulley D 34. Pulley E 35. Pulley F 36. Pin D 37. Pulley G 38. Pulley H 39. Winding wheel C 40. Pin E 41. Pulley I 42. Pulley J 43. Pulley K 44. Pulley L 45. Pin F 46. Protrusion A 47. Open slot A48. Right side of cable C 49. Right side of cable A 50. Left side of cable C 51. Left side of cable A 52. Left side of cable B 53. Fixed section of cable B 54. Protrusion B 55. Open slot B 56. Right side of cable B 57. Groove A 58. Groove B 59. Groove C 60. Groove D 61. Groove E 62. Groove F 63. Support plate A 64. Drive disc shaft A 65. Locking pin A 66. Support plate B 67. Locking pin B. [Specific implementation method]

[0032] The present invention will be further described below in conjunction with the accompanying drawings:

[0033] Attach Figure 1 Taking robotic minimally invasive surgery as an example, surgical forceps A5 and surgical forceps B6 are installed at the ends of robotic arms A4 and B7 respectively; the positions and postures of surgical forceps A5 and surgical forceps B6 are controlled by controllers in control cabinets A3 and B8 to control the movements of robotic arms A4 and B7; surgical forceps A5 and surgical forceps B6 work in coordination to complete laparoscopic surgery.

[0034] To achieve the above-mentioned objectives, the present invention provides a minimally invasive surgical forceps with an external transmission cable, which mainly includes a base 9, a support rod 16 and an end assembly 12. The support rod 16 is a solid structure and can be made of hard metal material or have a hard surface treatment; one end of the support rod 16 is connected to the base 9, and the other end of the support rod 16 is connected to the end assembly 12. The end assembly 12 includes a wrist 13, a finger A 14 and a finger B 15. The wrist 13 of the end assembly 12 is rotatably connected to the support rod 16 through a pin E 40, and the finger A 14 and the finger B 15 are rotatably connected to the other end of the wrist 13 through a pin B 29. The wrist 13, the finger A 14 and the finger B 15 rotate around the pin E 40 and the pin B 29 respectively under the traction of the cable. The cable is externally placed on the outer surface of the support rod 16. After the wrist 13 rotates, the finger A 14 and the finger B 15 are driven to perform corresponding rotational motion. The finger A 14 and the finger B The surgical forceps can be clamped and opened by rotating the support rod 16 around the rotation axis B 22, the wrist 13 around the rotation axis C 23, and the fingers A 14 and B 15 around the rotation axis A 19, respectively. The minimally invasive surgical forceps adopt a novel solid support rod structure and an external steel cable, solving the current problems of difficulty and high cost in sterilizing and disinfecting the end instruments of laparoscopic surgical robots.

[0035] The outer surface of the support rod 16 is provided with grooves A 57, groove B 58, groove C 59, groove D 60, groove E 61 and groove F 62 extending in the axial direction. The six grooves are arranged in pairs, groove A 57 and groove D 60 are a pair, groove B 58 and groove E 61 are a pair, and groove C 59 and groove F 62 are a pair. The paired grooves are used to pass the same steel cable; the cross-section of the groove can be circular or other shapes, and the cross-sectional size of the groove should be slightly larger than the outer diameter of the steel cable. Specifically, groove A 57 and groove D 60 are arranged in pairs and steel cable A 20 passes through the grooves, groove B 58 and groove E 61 are arranged in pairs and steel cable C 24 passes through the grooves, groove C 59 and groove F 62 are arranged in pairs and steel cable B 21 passes through the grooves, steel cable B 21 pulls wrist 13 to rotate around rotation axis C 23, steel cable A 20 pulls finger A 14 to rotate around rotation axis A 19, and steel cable C 24 pulls finger B 15 to rotate around rotation axis A19.

[0036] Drive disk A 10, drive disk B 11, drive disk C 17, and drive disk D 18 are mounted on the base 9. The support rod 16 is rotatably connected to the base 9 around the rotation axis B 22 and rotates under the drive of the drive disk A 10. The drive disk B 11, drive disk C 17, and drive disk D 18 are respectively connected to the wrist 13, finger A 14, and finger B 15 via steel cables, and drive the steel cables to perform pulling motion. The drive disks A 10, B 11, C 17, and D 18 respectively control the rotation of the support rod 16, wrist 13, finger A 14, and finger B 15 through the mechanical transmission mechanism in the base 9. As shown in the attached figure Figure 8 As shown, taking the drive disc C 17 as an example, the drive disc C 17 is fixedly connected to the drive disc shaft A 64, and the drive disc shaft A 64 is mounted on the support plate A 63 and the support plate B 66; the left side 51 of the steel cable A is fixed to the drive disc shaft A 64 by the locking screw A 65, and the right side 49 of the steel cable A is fixed to the drive disc shaft A 64 by the same method (see FIG. Figure 8 Drive disc shaft A 64 rotates, driving left cable A 51 and right cable A 49 to move, thereby driving finger A 14. Wrist 13 rotates about axis C 23, driven by cable B 21. Finger A 14 rotates about axis A 19, driven by cable A 20. Finger B 15 rotates about axis A 19, driven by cable C 24.

[0037] The end assembly 12 mainly includes a wrist 13, finger A 14 and finger B 15. The end assembly 12 is connected to the support rod 16 through a pin E 40, and the wrist 13 is respectively connected to finger A 14 and finger B 15 through a pin B 29; the end assembly 12 also includes a winding wheel A 25, pulley A 26, pulley B 27, pin A 28, winding wheel B 30, pin C 31, pulley C 32, pulley D 33, pulley E 34, pulley F 35, pin D 36, pulley G 37, pulley H 38, winding wheel C 39, pulley I 41, pulley J 42, pulley K 43, pulley L 44 and pin F 45.

[0038] A winding wheel A 25 and a winding wheel B 30 are provided between finger A 14 and finger B 15, and both winding wheel A 25 and winding wheel B 30 are passed through the pin B 29; a protrusion A 46 is provided on finger A 14 and finger B 15, and an open groove A 47 is provided on winding wheel B 30 and winding wheel A 25, and the protrusion A 46 is inserted into the open groove A 47. Steel cable A 20 and steel cable C 24 are wound on winding wheel B 30 and winding wheel A 25 respectively; steel cable A 20 is embedded in the narrow space jointly constructed by the protrusion A 46 on finger A 14 and the open groove A 47 on winding wheel B 30 through bending, and the protrusion A 46 and the open groove A 47 squeeze the steel cable A 20 with each other, so that the steel cable A 20 will not be tangled with the winding wheel B during the pulling process. Similarly, the steel cable C 24 is embedded in the narrow space formed by the protrusion A 46 on the finger B15 and the open groove A 47 on the winding wheel A 25 by bending, and the protrusion A 46 and the open groove A47 squeeze the steel cable C 24 against each other. The steel cable C 24 is bent and will not slide relative to the winding wheel A 25 during the pulling process.

[0039] The left and right sides of the steel cable A 20 are divided by the bend, and the left side of the steel cable A 51 and the right side of the steel cable A 49 are respectively. After the right side of the steel cable A 49 passes through the winding wheel B 30, it passes through the pulley F 35, the pulley L 44 and the pulley J 42 in sequence, and finally enters the groove D 60 on the outer surface of the support rod 16; after the left side of the steel cable A 51 passes through the winding wheel B 30, it passes through the pulley B 27, the pulley C 32 and the pulley J42 in sequence, and finally enters the groove A 57 on the outer surface of the support rod 16.

[0040] Similarly, the left side of the steel cable C 24 is divided by the bend, and the left side is the left side 50 of the steel cable C and the right side 48 of the steel cable C. After the right side 48 of the steel cable C passes through the winding wheel A 25, it passes through the pulley E 34, the pulley K 43 and the pulley I 41 in sequence, and finally enters the groove E 61 on the outer surface of the support rod 16; after the left side 50 of the steel cable C passes through the winding wheel A 25, it passes through the pulley A 26, the pulley D 33 and the pulley H 38 in sequence, and finally enters the groove B 58 on the outer surface of the support rod 16.

[0041] A winding wheel C 39 is passed through the pin E 40, and an open groove B 55 is provided on the winding wheel C 39. A protrusion B 54 is provided on the wrist 13, and the protrusion B 54 is inserted into the open groove B 55. A steel cable B 21 is wound around the winding wheel C 39. The steel cable B 21 is bent and embedded in the narrow space jointly constructed by the protrusion B 54 on the wrist 13 and the open groove B 55 on the winding wheel C 39. The protrusion B54 and the open groove B 55 squeeze the steel cable C 24 against each other, so that the steel cable B 21 will not slide relative to the winding wheel C 39 during the pulling process.

[0042] The left and right sides of the steel cable B 21 are respectively divided by the left side 52 of the steel cable B and the right side 56 of the steel cable B. After passing through the winding wheel C 39, the right side 56 of the steel cable B enters the groove F 62 on the outer surface of the support rod 16; after passing through the winding wheel C 39, the left side 52 of the steel cable B enters the groove C 59 on the outer surface of the support rod 16.

[0043] The minimally invasive surgical forceps with an external transmission cable described in the present invention adopt a solid support rod structure and an external cable method, which avoids the problem that the cable cannot be effectively sterilized. At the same time, the diameter of the support rod can be reduced to below 6 mm, which has a positive effect on the promotion of robotic minimally invasive surgery.

[0044] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A minimally invasive surgical forceps with an external transmission cable, characterized by: The invention comprises a base (9), a support rod (16) and an end assembly (12), wherein the support rod (16) is a solid structure, one end of the support rod (16) is connected to the base (9), and the other end of the support rod (16) is connected to the end assembly (12), and the end assembly (12) comprises a wrist (13), a finger A (14) and a finger B (15), and the wrist (13) of the end assembly (12) is rotatably connected to the support rod (16) through a pin E (40), and the finger A (14) and the finger B (15) are rotatably connected to the other end of the wrist (13) through a pin B (29). (14) and finger B (15) rotate around the pin E (40) and pin B (29) respectively under the pulling of the steel cable, and the steel cable is placed on the outer surface of the support rod (16). After the wrist (13) rotates, it drives finger A (14) and finger B (15) to make corresponding rotational movements. After the rotation of finger A (14) and finger B (15), the clamping and opening of the surgical forceps are realized; the outer surface of the support rod (16) is provided with grooves A (57), groove B (58), groove C (59), groove D (60), groove E (61) and groove F (62) extending in the axial direction, and the groove A (57) and groove D (60) are arranged in pairs. The grooves are arranged in pairs and a steel cable A (20) passes through the grooves, the grooves B (58) and the grooves E (61) are arranged in pairs and a steel cable C (24) passes through the grooves, the grooves C (59) and the grooves F (62) are arranged in pairs and a steel cable B (21) passes through the grooves, the steel cable B (21) pulls the wrist (13) to rotate around the rotation axis C (23), the steel cable A (20) pulls the finger A (14) to rotate around the rotation axis A (19), and the steel cable C (24) pulls the finger B (15) to rotate around the rotation axis A (19); the base (9) is equipped with a drive disk A (10), a drive disk B (11), a drive disk C (17) and a drive disk D (18), the support rod (16) is rotatably connected to the base (9) around the rotation axis B (22) and rotates under the drive of the drive disk A (10), the drive disk B (11), the drive disk C (17) and the drive disk D (18) are respectively connected to the wrist (13), the finger A (14) and the finger B (15) through the steel cable, and drive the steel cable to perform a pulling movement, and the drive disk A (10), the drive disk B (11), the drive disk C (17) and the drive disk D (18) respectively control the rotation of the support rod (16), the wrist (13), the finger A (14) and the finger B (15) through the mechanical transmission mechanism in the base (9).

2. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 1, characterized in that: A winding wheel A (25) and a winding wheel B (30) are provided between the finger A (14) and the finger B (15), and the winding wheel A (25) and the winding wheel B (30) are both passed through the pin shaft B (29); the finger A (14) and the finger B (15) are both provided with a protrusion A (46), and the winding wheel B (30) and the winding wheel A (25) are both provided with an open groove A (47), and the protrusion A (46) is inserted into the open groove A (47), and the winding wheel B (30) and the winding wheel A (25) are respectively wound with a steel cable A (20) and a steel cable C (24), and the steel cable A (20) and the steel cable C (24) are both embedded in the space jointly constructed by the protrusion A (46) and the open groove A (47) by bending, and the protrusion A (46) and the open groove A (47) mutually squeeze the steel cable A (20) and the steel cable C (24).

3. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 2, characterized in that: The steel cable A (20) is divided by a bend, and its left and right sides are the left side (51) of the steel cable A and the right side (49) of the steel cable A, respectively. After the right side (49) of the steel cable A passes through the winding wheel B (30), it passes through the pulley F (35), the pulley L (44) and the pulley J (42) in sequence before entering the groove D (60) on the outer surface of the support rod (16). After the left side (51) of the steel cable A passes through the winding wheel B (30), it passes through the pulley B (27), the pulley C (32) and the pulley J (42) in sequence before entering the groove A (57) on the outer surface of the support rod (16).

4. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 2, characterized in that: The steel cable C (24) is divided by a bend, and its left and right sides are the left side (50) of the steel cable C and the right side (48) of the steel cable C respectively. After the right side (48) of the steel cable C passes through the winding wheel A (25), it passes through the pulley E (34), the pulley K (43) and the pulley I (41) in sequence and then enters the groove E (61) on the outer surface of the support rod (16). After the left side (50) of the steel cable C passes through the winding wheel A (25), it passes through the pulley A (26), the pulley D (33) and the pulley H (38) in sequence and then enters the groove B (58) on the outer surface of the support rod (16).

5. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 1, characterized in that: A winding wheel C (39) is provided on the pin shaft E (40), and an open groove B (55) is provided on the winding wheel C (39). A protrusion B (54) is provided on the wrist (13), and the protrusion B (54) is inserted into the open groove B (55). A steel cable B (21) is wound on the winding wheel C (39), and the steel cable B (21) is embedded in the space jointly constructed by the protrusion B (54) on the wrist (13) and the open groove B (55) on the winding wheel C (39) by bending, and the protrusion B (54) and the open groove B (55) mutually squeeze the steel cable C (24).

6. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 5, characterized in that: The steel cable B (21) is divided by a bend, and its left and right sides are respectively the left side (52) of the steel cable B and the right side (56) of the steel cable B. The right side (56) of the steel cable B passes through the winding wheel C (39) and enters the groove F (62) on the outer surface of the support rod (16). The left side (52) of the steel cable B passes through the winding wheel C (39) and enters the groove C (59) on the outer surface of the support rod (16).

7. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 1, characterized in that: The surgical forceps are installed at the end of a robotic arm, which is connected to a control cabinet and electrically connected to a controller in the control cabinet. The position and posture of the surgical forceps are achieved by controlling the movement of the robotic arm through the controller in the control cabinet.

8. The minimally invasive surgical forceps with an external transmission cable as claimed in claim 1, characterized in that: The support rod (16) is made of a hard metal material or has its surface hardened.

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