A minimally invasive surgical forceps

Abstract

This invention discloses a minimally invasive surgical forceps, including a housing and a forceps head module. The forceps head module is disposed at the distal end of the minimally invasive surgical forceps. It also includes an adjustment handle, a rotating component, a joint module, and a locking component. Medical personnel can adjust and lock the movement posture of the forceps head module by adjusting the handle. After locking, rotating the adjustment handle drives the rotating component to rotate the joint module, allowing the joint module to drive the forceps head module to rotate around the extension direction of the joint module. This enables the minimally invasive surgical forceps to flexibly adjust the different circumferential angles of the forceps head module. The minimally invasive surgical forceps provided by this invention are easy to operate. Even after the front forceps head module is locked, it can still rotate and adjust, which enhances the application capabilities of the surgical forceps, helps reduce hand fatigue for medical personnel, and improves the quality of surgery.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a minimally invasive surgical forceps. Background Technology

[0002] Minimally invasive surgery is the result of surgeons' exploration of surgical principles to "reduce trauma and alleviate pain" and patients' demands for "painless, scarless, and small-incision" surgery. Early minimally invasive surgery referred only to laparoscopic surgery, but now, with the popularization and development of minimally invasive surgical techniques, it is widely used in various surgical procedures.

[0003] In minimally invasive surgery, minimally invasive surgical forceps are medical instruments frequently used by medical personnel to grasp and manipulate internal tissues. Existing minimally invasive surgical forceps can open and close the forceps head via a handle, rotate the forceps head via a rotating mechanism, and lock the forceps head in place using a locking component. The inventors have discovered that while related technologies allow control of the forceps head's opening, closing, rotation, and locking functions, these functions are typically independent and cannot be combined. Furthermore, once the forceps head is locked, it cannot rotate on its own, causing inconvenience in manipulating the tissues during minimally invasive surgery, limiting its practical application, and easily leading to hand fatigue for medical personnel, thus affecting the quality of the surgery. Existing minimally invasive surgical forceps lack the ability to flexibly adjust the forceps head's movement posture, making it difficult to adapt well to the complex surgical conditions in minimally invasive procedures. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that in the prior art, the head of the minimally invasive surgical forceps cannot rotate after being locked normally, which makes it inconvenient to operate on the tissue to be treated during minimally invasive surgery, limits its practical application, and easily leads to hand fatigue of medical personnel, thus affecting the quality of the surgery.

[0005] Therefore, the present invention provides a minimally invasive surgical forceps, including a housing and a forceps head module, the forceps head module being disposed at the distal end of the minimally invasive surgical forceps, and further comprising:

[0006] The adjustment handle is movably connected to the housing.

[0007] A rotating assembly is connected to the adjusting end of the adjusting handle, and the rotating assembly is rotatably disposed within the housing;

[0008] A joint module is movably configured within the housing. The proximal end of the joint module is connected to the rotating assembly, and the distal end of the joint module is fixedly connected to the clamp head module. The proximal and distal ends of the joint module are linked together.

[0009] A locking assembly is installed at the transmission end of the adjustment handle. The proximal end of the joint module and the locking assembly are configured to rotate. The locking assembly can lock the radial bending of the proximal end of the joint module and the axial displacement of the joint module. When the proximal end of the joint module is locked, the adjustment handle has the ability to drive the rotation assembly to move the proximal end of the joint module to adjust the rotation angle of the distal end of the joint module and the clamping head module around the extension axis of the joint module.

[0010] Optionally, the locking assembly includes a locking member and a locking member. The locking member and the adjusting handle are fixedly disposed relative to each other. Under the drive of the adjusting handle, the locking member can slide to approach or move away from the locking member to form a locking position and an unlocking position. The locking member is disposed in the sliding direction of the locking member.

[0011] The locking member and the proximal end of the joint module are configured to be rotatably connected; the rotation axis of the proximal end of the joint module and the extension axis of the joint module are coincident.

[0012] Optionally, the rotating assembly includes a fourth gear and a joint sleeve. The fourth gear is sleeved on the joint sleeve, and the locking members are spaced apart inside the joint sleeve. The central axis of the joint sleeve coincides with the extension direction of the joint module. A bending deformation space near the proximal end of the joint module is provided inside the joint sleeve.

[0013] The joint module is a flexible joint. The proximal end of the joint module is provided with a first adapter, a first joint unit and a support rod arranged in series. Multiple first joint units are provided. The first adapter and the joint sleeve are fixedly arranged relative to each other. The first joint unit adjacent to the support rod is configured to be rotatably connected to the support rod.

[0014] The locking member is rotatably configured with respect to the first joint unit adjacent to it, so as to allow the proximal end of the joint module to rotate.

[0015] Optionally, the locking member has a mounting cavity, and the first joint unit adjacent to the locking member movably abuts within the mounting cavity. The mounting cavity and the joint unit are clearance-fitted to allow external force to adjust the circumferential rotation of the joint module along its extension direction; and / or

[0016] The locking element is sleeved on the support rod; the joint sleeve and the locking element are configured to be spaced apart or rotated together.

[0017] Optionally, the locking component is configured as a Hooke's sphere, which is a partially hollow sphere, and is sleeved and installed on the proximal end of the joint module; the locking component is configured as an annular structure, and is movably sleeved on the locking component; the central axis of the locking component coincides with the center of the Hooke's sphere.

[0018] Optionally, the adjusting handle includes a rotating end, a mounting assembly, and a connecting shaft. The rotating end and the mounting assembly are fixedly connected, and the connecting shaft is inserted into the end of the mounting assembly away from the rotating end. The rotating end is externally located in the housing, and the connecting shaft is kinetically connected to the rotating assembly.

[0019] The rotating assembly includes a gear set, a support bearing set, and a rotating shaft;

[0020] The gear set includes a first gear, a second gear, and a third gear arranged parallel to each other along their axial center lines. The first gear and the second gear are meshed together, and the third gear and the fourth gear are meshed together. The connecting shaft is driven by the first gear. One end of the rotating shaft is driven by the second gear, and the other end of the rotating shaft is driven by the third gear. The joint sleeve is sleeved and fixed on the fourth gear. The support bearing set includes a first bearing, a second bearing, and a third bearing. Any bearing is rotatably configured with respect to the rotating shaft. The first bearing and the third bearing are opposite to each other and sleeved at both ends of the rotating shaft in its extension direction. The second bearing is sleeved on the middle section of the rotating shaft.

[0021] Optionally, the adjusting handle further includes a flexible buckle, a release member, and a connecting member. The flexible buckle is formed on the assembly and engages with the housing. The release member is used to release the engagement between the flexible buckle and the housing and passes through the rotating end and the assembly. One end of the connecting member is fixedly connected to the flexible buckle, and the other end of the connecting member is fixedly connected to the release member. The connecting member and the flexible buckle are correspondingly configured. The assembly has a deformation space for the flexible buckle and the connecting member to move toward the interior of the assembly.

[0022] Optionally, the distal end of the joint module is provided with a second adapter, a second joint unit, and a third adapter arranged in series; multiple second joint units are provided, and the third adapter is fixedly connected to the clamp head module;

[0023] The joint module includes a connecting rod and a linkage joint line. One end of the connecting rod is fixedly connected to the support rod, and the other end of the connecting rod is fixedly connected to the second adapter. The linkage joint line passes through the connecting rod. At least two linkage joint lines are provided. The proximal end of the linkage joint line is fixedly connected to the first adapter, and the distal end of the linkage joint line is fixedly connected to the third adapter.

[0024] Optionally, the joint module further includes a limiting member, the connecting rod is configured as a hollow rod, the limiting member is rotatably installed in the connecting rod, and a first limiting cavity is symmetrically distributed on the outer wall surface of the limiting member. The first limiting cavity is adapted to accommodate the linkage joint line. The first limiting cavity and the linkage joint line are correspondingly arranged, and the extension direction of the first limiting cavity is the same as the extension direction of the connecting rod.

[0025] The limiting member is provided with a second limiting cavity, which is adapted to slide and receive the control line of the opening and closing mechanism.

[0026] Optionally, the locking assembly further includes a locking adapter, one end of which is throttle-connected to the adjusting handle, and the other end of which is fixedly connected to the locking member; the locking adapter is disposed on the side of the locking member away from the locking member.

[0027] Optionally, the housing is provided with a positioning groove, and the locking adapter is provided with a positioning hole. When the locking member is in the locked position, the positioning groove and the positioning hole are connected and aligned. The positioning groove and the positioning hole are adapted to accommodate and connect at least part of the external positioning member.

[0028] Optionally, the aforementioned minimally invasive surgical forceps further includes a fixing sleeve, which is fixedly connected to the locking member; the locking adapter is provided with a fixing ring, and at least a portion of the fixing sleeve is fixedly disposed within the fixing ring; and / or

[0029] The locking adapter is provided with a clearance cavity, which is used to avoid the rotating assembly.

[0030] Optionally, the locking member and the locking member are provided with a locking engagement structure; in the locked position, the locking engagement structure is used to limit the axial displacement of the joint module along its extension direction to lock the posture of the pliers module.

[0031] Optionally, the locking engagement structure includes a first locking protrusion and a second locking protrusion, wherein one of the first locking protrusion and the second locking protrusion is disposed on the locking member, and the other is disposed on the engaging member; any one locking protrusion is disposed on the opposing end faces of the locking member and the engaging member; in the locked position, the first locking protrusion and the second locking protrusion are mutually inserted and limited; in the unlocked position, the first locking protrusion and the second locking protrusion are mutually disengaged and limited; or

[0032] The locking mechanism includes a locking protrusion and a locking groove. One of the locking protrusion and the locking groove is disposed on the locking member, and the other is disposed on the locking member. The locking protrusion and the locking groove are correspondingly disposed on the opposite end faces of the locking member and the locking member, and the locking protrusion and the locking groove are conformally corresponding. In the locked position, the locking protrusion and the locking groove are engaged and limited. In the unlocked position, the locking protrusion and the locking groove are disengaged and limited.

[0033] Optionally, any locking protrusion may be configured as a frustum structure, a sliding plate structure, or a spiral structure. On the locking member and / or the engaging member, adjacent locking protrusions are spaced apart from each other to form a locking engagement space.

[0034] Optionally, the aforementioned minimally invasive surgical forceps further includes an opening and closing mechanism, which includes an opening and closing handle and at least one control line. The opening and closing handle is movably connected to the housing. One end of the control line is drivenly connected to the opening and closing handle, and the other end of the control line is fixedly connected to the forceps head module. The control line slides through the joint module. The opening and closing handle is used to retract the control line to drive the forceps head module to close to clamp or open to release the tissue to be processed.

[0035] The opening and closing handle is provided with a gripping end and a first connecting end. The first connecting end is rotatably connected to the housing. The opening and closing handle can rotate around the rotation center of the first connecting end and the housing. During the rotation stroke of the opening and closing handle, at least part of the gripping end is exposed on the outside of the housing.

[0036] Optionally, the aforementioned minimally invasive surgical forceps further includes a linkage assembly and a connecting assembly. The linkage assembly is disposed between the opening / closing handle and the connecting assembly. The connecting assembly is connected to the control line via a transmission. The linkage assembly is used to drive the connecting assembly to slide and retract the control line during the rotation stroke of the opening / closing handle.

[0037] Optionally, the opening and closing handle is provided with a second connecting end, and the linkage assembly includes a first link, a second link, and a third link; one end of the first link is rotatably connected to the second connecting end, the other end of the first link is rotatably connected to one end of the second link, the second link and the third link are fixedly connected, and the opening and closing handle drives the first link to drive the second link and the third link to slide synchronously parallel to the extension direction of the joint module;

[0038] The housing is provided with a guide structure, which is adapted to guide the movement of the connecting rod assembly.

[0039] Optionally, the connecting assembly includes a connecting block, a transmission gear, a connecting seat, a connecting shaft, and a transmission gear component;

[0040] The connecting block and the transmission end of the connecting rod assembly are detachably connected. The transmission gear and the connecting block are configured to be rotatably connected. The transmission gear is rotatably mounted on the connecting seat via the connecting shaft. The connecting seat and the joint module are fixedly connected. The transmission gear and the proximal end of the control line are fixedly connected. When the opening and closing handle drives the connecting assembly to slide, the transmission gear and the transmission gear mesh and drive, so that the transmission gear winds and unwinds the control line.

[0041] Optionally, the transmission gear condition includes a connecting tooth block and a rotating block, the transmission gear component includes a connecting ring groove and a gear block, the connecting tooth block and the gear block are meshed, the rotating block and the connecting block are rotatably connected, the connecting ring groove and the control line are correspondingly configured, and the connecting ring groove is used to wind the control line.

[0042] Optionally, the opening and closing handle is provided with a receiving groove, which is adapted to receive a return spring; the housing is provided with a stop member, which is adapted to abut against the return spring, and the stop member is configured to be oriented toward the receiving groove as the opening and closing handle rotates.

[0043] Optionally, the pliers module includes a pliers body, at least one pliers head, and a connecting pin. The connecting pin is installed inside the pliers body, and the pliers head is rotatably connected to the pliers body via the connecting pin. The pliers head and the control line are configured accordingly.

[0044] Optionally, the housing is provided with a sliding space for the locking member in the locking assembly, so that the locking member can move relative to the joint module to a locked position and an unlocked position; and / or

[0045] The housing is provided with a support structure, and the support structure and the rotating assembly are rotatably configured together.

[0046] The technical solution provided by this invention has the following advantages:

[0047] 1. The minimally invasive surgical forceps provided by the present invention includes a housing and a forceps head module, the forceps head module being disposed at the distal end of the minimally invasive surgical forceps, and further includes an adjusting handle, a rotating component, a joint module, and a locking component. The adjusting handle is movably connected to the housing; the rotating component is connected to the adjusting end of the adjusting handle and is rotatably disposed within the housing; the joint module is movably disposed within the housing, the proximal end of the joint module being drivenly connected to the rotating component, and the distal end of the joint module being fixedly connected to the forceps head module, the proximal and distal ends of the joint module being linked; the locking component is installed at the driving end of the adjusting handle, the proximal end of the joint module and the locking component are configured to rotate, the locking component can lock the radial bending of the proximal end of the joint module and the axial displacement of the joint module, when the proximal end of the joint module is in the locked state, the adjusting handle has the ability to drive the rotating component to drive the proximal end of the joint module to adjust the rotation angle of the distal end of the joint module and the forceps head module around the extension axis of the joint module.

[0048] This minimally invasive surgical forceps, with its unique structure, allows medical personnel to adjust and lock the movement posture of the forceps head module by adjusting the handle. Adjusting the handle's transmission locking component locks the proximal radial bending and axial displacement of the joint module, thus locking the forceps head module's adjusted movement posture and improving its stability during clamping. After locking, rotating the adjustment handle drives the rotation component to rotate the joint module, allowing the joint module to drive the forceps head module to rotate around the joint module's extension direction. This enables the minimally invasive surgical forceps to flexibly adjust the forceps head module's circumferential angles. The forceps head module's pitch, yaw, and rotation movements are also adjustable via the joint module. The minimally invasive surgical forceps provided by this invention are easy to operate; even after the front forceps head module is locked, it can still rotate, enhancing the forceps' application capabilities, reducing hand fatigue for medical personnel, and improving surgical quality.

[0049] 2. The minimally invasive surgical forceps provided by the present invention includes a locking component and a locking member. The locking member and the adjusting handle are fixedly arranged relative to each other. Under the drive of the adjusting handle, the locking member can slide to approach or move away from the locking member to form a locking position and an unlocking position. The locking member is arranged in the sliding direction of the locking member. The locking member and the proximal end of the joint module are configured to be rotatably connected. The rotation axis of the proximal end of the joint module and the extension axis of the joint module are coincident.

[0050] This minimally invasive surgical forceps structure uses an adjustable handle to drive the locking element to slide closer to the locking element, bringing them into contact and locking the joint module. This locking element secures the joint module, maintaining the adjusted movement posture of the forceps head module at the distal end of the joint module. The locking assembly prevents radial bending and axial displacement of the joint module, ensuring stable clamping of the forceps head module. Conversely, adjusting the handle to move the locking element away from the locking element creates an unlocked position, allowing adjustment of the forceps head module's movement posture via the handle or external force. The locking and unlocking processes are convenient and facilitate rapid adjustment of the forceps head module's movement posture. Furthermore, the locking element and the proximal end of the joint module are rotatably connected, allowing the forceps head module to rotate even when the locking element is in either the unlocked or locked position.

[0051] 3. The minimally invasive surgical forceps provided by the present invention have a locking component configured as a Hooke's hinge ball, which is a partially hollow sphere and is fitted onto the proximal end of the joint module; the locking component is configured as a ring structure and is movably fitted onto the locking component; the central axis of the locking component coincides with the center of the Hooke's hinge ball.

[0052] This minimally invasive surgical forceps features a locking element that is a Hooke's sphere and a locking element that is a ring-shaped structure fitted onto the locking element. This design provides a larger contact and locking area between the locking and locking elements, which helps to enhance the stability of the connection and locking. The central axis of the locking element is aligned with the center of the Hooke's sphere to improve the connection accuracy of the circumferential locking, thereby enhancing the stability of the forceps head module during locking.

[0053] 4. The minimally invasive surgical forceps provided by the present invention has a locking member with a mounting cavity, and a first joint unit adjacent to the locking member is movably abutted in the mounting cavity. The mounting cavity and the joint unit are fitted with a clearance to allow external force to adjust the circumferential rotation of the joint module along its extension direction.

[0054] This minimally invasive surgical forceps, through the gap fit between the mounting cavity and the first joint unit of the adjacent locking component, allows the locking component and the locking element to still be able to adjust the circumferential rotation of the proximal end of the joint module through the housing of the minimally invasive surgical forceps after being in the locked position. This, in turn, adjusts the circumferential rotation of the forceps head module at the distal end of the joint module. This is beneficial to improving the application capability of the minimally invasive surgical forceps and meeting the usage requirement that the forceps head module can rotate on its own after being locked.

[0055] 5. The minimally invasive surgical forceps provided by the present invention have a positioning groove on the shell and a positioning hole on the locking adapter. When the locking adapter is in the locked position, the positioning groove and the positioning hole are connected and aligned. The positioning groove and the positioning hole are suitable for receiving and connecting at least part of the external positioning adapter.

[0056] This minimally invasive surgical forceps, when the locking and engaging components are in the locked position, uses an external positioning component inserted into the positioning slot and positioning hole to fix the housing and locking components, thereby securing them and maintaining the movement posture of the joint module and the forceps head module. This design reduces the difficulty of use and improves ease of use, avoiding the need for medical personnel to continuously operate the handle to fix the locking and engaging components, which can cause arm fatigue and affect the quality of surgery.

[0057] 6. The minimally invasive surgical forceps provided by the present invention further includes a flexible buckle, a release element, and a connecting element in the adjusting handle. The flexible buckle is formed and disposed on the assembly and is engaged with the housing. The release element is used to release the engagement between the flexible buckle and the housing and passes through the rotating end and the assembly. One end of the connecting element is fixedly connected to the flexible buckle, and the other end of the connecting element is fixedly connected to the release element. The connecting element and the flexible buckle are correspondingly configured. The assembly is provided with a deformation space for the flexible buckle and the connecting element to move toward the interior of the assembly.

[0058] This minimally invasive surgical forceps features an adjustable handle and a housing that are connected by a flexible snap-fit ​​mechanism. The handle is pressed into the housing by pressing one end of the adjustable handle with the flexible snap-fit. When the adjustable handle needs to be disassembled, a release mechanism is used to release the snap-fit ​​between the flexible snap-fit ​​and the housing. This release mechanism then moves the connecting component and the flexible snap-fit, causing the flexible snap-fit ​​to move towards the deformation space within the assembly, thus disengaging the outer wall of the flexible snap-fit ​​from the housing. The assembly and disassembly of the adjustable handle and housing are convenient.

[0059] 7. The minimally invasive surgical forceps provided by the present invention further includes an opening and closing mechanism, which includes an opening and closing handle and at least one control line. The opening and closing handle is movably connected to the housing. One end of the control line is connected to the opening and closing handle, and the other end of the control line is fixedly connected to the forceps head module. The control line is slidably inserted into the joint module. The opening and closing handle is used to retract and extend the control line to drive the forceps head module to close to clamp or open to release the tissue to be processed.

[0060] This minimally invasive surgical forceps, with its structure, allows the control line to be pulled by operating the opening and closing handle, thereby driving the corresponding forceps head. The control line slides through the joint module, and its transmission process is smooth. The minimally invasive surgical forceps, through the opening and closing mechanism, drives the forceps head module to close and clamp or open and release the tissue to be processed, and its opening and closing clamping process is easy to adjust. Attached Figure Description

[0061] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the structure of the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0063] Figure 2 This is a partial structural diagram of the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0064] Figure 3 This is a schematic diagram of the locking component and rotating component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0065] Figure 4 This is a partial structural diagram of the locking component and rotating component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0066] Figure 5 This is a schematic diagram of the connection of the proximal end of the joint module in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0067] Figure 6 This is a cross-sectional schematic diagram of the proximal end of the joint module in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0068] Figure 7 This is a schematic diagram of the proximal end of the joint module in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0069] Figure 8 This is a schematic diagram of the limiting component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0070] Figure 9 This is a schematic diagram of the locking component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0071] Figure 10 This is a schematic diagram of the locking element in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0072] Figure 11 This is a schematic diagram of the opening and closing handle of the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0073] Figure 12 This is a partial structural diagram of the opening and closing mechanism in a minimally invasive surgical forceps provided in an embodiment of the present invention;

[0074] Figure 13This is a partial connection diagram of the connecting component and the connecting rod component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0075] Figure 14 This is a partial structural schematic diagram of the connecting component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0076] Figure 15 This is a schematic diagram of the connection of the transmission gear component in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0077] Figure 16 This is a schematic diagram of the structure of the distal end of the joint module and the forceps head module in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0078] Figure 17 This is a schematic diagram of the structure of the adjusting handle in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0079] Figure 18 This is a cross-sectional schematic diagram of the adjusting handle in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0080] Figure 19 This is a schematic diagram of the locking element in the minimally invasive surgical forceps provided in an embodiment of the present invention;

[0081] Explanation of reference numerals in the attached figures:

[0082] 1-Housing shell; 11-Stop; 12-Rotating groove; 13-Supporting structure;

[0083] 2- Opening and closing mechanism;

[0084] 21-Opening / closing handle; 211-Grip end; 212-First connecting end; 213-Second connecting end; 214-Receiving slot;

[0085] 22-Link assembly; 221-First link; 222-Second link; 223-Third link;

[0086] 23-Connecting assembly; 231-Connecting block; 232-Transmission gear condition; 2321-Connecting gear block; 2322-Rotating block; 233-Connecting seat; 234-Connecting shaft; 235-Transmission gear component; 2351-Connecting ring groove; 2352-Gear block; 236-Support component;

[0087] 24-Control Line;

[0088] 25-Pliers head module; 251-Pliers body; 252-First pliers head; 253-Second pliers head; 254-Connecting pin;

[0089] 3-Attitude adjustment mechanism;

[0090] 31-Adjusting handle; 311-Rotating end; 312-Assembly; 313-Flexible buckle; 314-Coupling; 315-Release component; 316-Connecting component;

[0091] 32-Rotating assembly; 321-First gear; 322-Second gear; 323-Rotating shaft; 324-Third gear; 325-Fourth gear; 326-Joint sleeve; 327-First bearing; 328-Second bearing; 329-Third bearing;

[0092] 33-Joint module; 331-First adapter; 332-First joint unit; 333-Support rod; 334-Connecting rod; 335-Second adapter; 336-Second joint unit; 337-Third adapter; 338-Limiting component; 3381-First limiting cavity; 3382-Second limiting cavity;

[0093] 34-Locking assembly; 341-Locking adapter; 3411-Assembly hole; 3412-Positioning hole; 3413-Retaining ring; 3414-Allowing cavity; 342-Retaining sleeve; 343-Locking component; 344-Locking engagement component; 3441-Mounting cavity. Detailed Implementation

[0094] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0095] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0096] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection," "linking," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0097] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0098] Example

[0099] Some existing minimally invasive surgical forceps with articulated joints can rotate within a certain angle. In narrow spaces such as the abdominal cavity, achieving the ideal angle of the forceps head required by the surgeon necessitates flexible coordination of rotation locking. Furthermore, the ability to continue rotating even after locking under various unforeseen circumstances during actual use is a necessary function for technological development.

[0100] The purpose of this invention is to address the shortcomings of existing technologies by providing a minimally invasive surgical forceps for minimally invasive surgery, which helps to minimize hand fatigue for surgeons during long-term surgeries, facilitates operation, and reduces the impact on surgical quality.

[0101] See Figures 1 to 19 The figure shows a minimally invasive surgical forceps, which includes a housing 1, an opening and closing mechanism 2, and a posture adjustment mechanism 3.

[0102] See Figure 2 , Figures 11 to 16 The opening and closing mechanism 2 includes an opening and closing handle 21, a connecting rod assembly 22, a connecting assembly 23, a control line 24, and a forceps head module 25. The opening and closing handle 21 is used to retract and extend the control line 24 to drive the forceps head module 25 to close and clamp or open and release the tissue to be processed. The forceps head module 25 is disposed at the distal end of the minimally invasive surgical forceps. The connecting rod assembly 22 is disposed between the opening and closing handle 21 and the connecting assembly 23. The connecting assembly 23 is connected to the control line 24. The connecting rod assembly 22 is used to drive the connecting assembly 23 to slide and retract the control line 24 during the rotation stroke of the opening and closing handle 21. The opening and closing handle 21 is movably connected to the housing 1. One end of the control line 24 is connected to the opening and closing handle 21, and the other end of the control line 24 is fixedly connected to the forceps head module 25. The control line 24 is slidably passed through the joint module 33. The present invention allows the control line 24 to be pulled by operating the opening and closing handle 21, thereby driving the corresponding configured forceps head. The control line 24 slides through the joint module 33, and its transmission process is smooth. The minimally invasive surgical forceps drive the control line 24 through the opening and closing mechanism 2 to drive the forceps head module 25 to close and clamp or open and release the tissue to be processed. Its opening and closing clamping process is easy to adjust.

[0103] See Figure 11 and Figure 12The opening and closing handle 21 is provided with a grip end 211 and a first connecting end 212. The first connecting end 212 is rotatably connected to the housing 1. The opening and closing handle 21 can rotate around the rotation center of the first connecting end 212 and the housing 1. During the rotation stroke of the opening and closing handle 21, during the opening and closing process, a part of the grip end 211 is exposed on the outside of the housing 1 to facilitate the hand gripping and operation of medical personnel.

[0104] See Figure 11 and Figure 12 The opening and closing handle 21 is provided with a second connecting end 213. The linkage assembly 22 includes a first link 221, a second link 222 and a third link 223. One end of the first link 221 is rotatably connected to the second connecting end 213, and the other end of the first link 221 is rotatably connected to one end of the second link 222. The second link 222 and the third link 223 are fixedly connected. The opening and closing handle 21 drives the second link 222 and the third link 223 to slide synchronously parallel to the extension direction of the joint module 33 by transmitting the first link 221.

[0105] See Figure 12 and Figure 13 The housing 1 contains a guide structure adapted to guide the movement of the connecting rod assembly 22. The guide structure can be configured as a guide protrusion connected to the connecting rod assembly 22, with a guide groove on the connecting rod assembly 22. When the opening / closing handle 21 drives the connecting rod assembly 22, the guide protrusion and the guide groove are slidably connected. In this embodiment, the second connecting rod 222 and the third connecting rod 223 are provided with guide grooves. The guiding direction of the guide structure is parallel to the extension direction of the joint module 33. Alternatively, a guide protrusion can be provided on the connecting rod assembly 22, and the guide structure can be configured as a guide groove on the inner cavity of the housing 1. In other embodiments, the guide structure can be configured as a connecting pin 254 installed in the inner cavity of the housing 1, slidably connected to the connecting rod assembly 22 via the connecting pin 254 to guide the movement of the connecting rod assembly 22.

[0106] In this embodiment, see Figure 16 The plier module 25 is equipped with a first plier head 252 and a second plier head 253. The plier module 25 includes a plier body 251 and a connecting pin 254. Each plier head is rotatably connected to the plier body 251 through the connecting pin 254. Two control lines 24 are provided, which are respectively connected to the first plier head 252 and the second plier head 253, so as to synchronously clamp or synchronously open the plier module 25 through the opening and closing handle 21.

[0107] In other embodiments, the clamping head module 25 is equipped with a first clamping head 252 and a second clamping head 253. A control line 24 is provided, and the first clamping head 252 is connected to the control line 24. The first clamping head 252 and the clamping body 251 are rotatably connected by a connecting pin 254. The second clamping head 253 is fixedly connected to the clamping body 251, so that the first clamping head 252 can be adjusted to move closer to the second clamping head 253 by the opening and closing handle 21, thereby realizing the clamping action of the tissue to be treated.

[0108] The clamp head module 25 can be configured with a rigid sleeve, the clamp body 251 is inserted into the fixed rigid sleeve, and the control line 24 is slidably built into the rigid sleeve; the joint module 33 can be configured with fasteners, which are sleeved and installed at the far end of the joint module 33 to fix the joint module 33, the rigid sleeve, and the clamp body 251 together.

[0109] See Figures 1 to 5 , Figures 12 to 15 The connecting assembly 23 includes a connecting block 231, a transmission gear condition 232, a connecting seat 233, a connecting shaft 234, and a transmission gear component 235. The connecting block 231 and the transmission end of the connecting rod assembly 22 are detachably connected. The transmission gear condition 232 and the connecting block 231 are configured for rotatable connection. The transmission gear component 235 is rotatably mounted on the connecting seat 233 via the connecting shaft 234. The connecting seat 233 is fixedly connected to the joint module 33. The transmission gear component 235 is fixedly connected to the proximal end of the control line 24. When the opening and closing handle 21 drives the connecting assembly 23 to slide, the transmission gear condition 232 and the transmission gear component 235 mesh and transmit power, so that the transmission gear component 235 winds up and unwinds the control line 24. The connecting assembly 23 also includes a support member 236, which supports the transmission gear condition 232 and is fixedly disposed at the bottom of the transmission gear condition 232.

[0110] See Figure 14 and Figure 15 The transmission gear component 232 includes a connecting gear block 2321 and a rotating block 2322. The transmission gear component 235 includes a connecting ring groove 2351 and a gear block 2352. The connecting gear block 2321 and the gear block 2352 are meshed together. The rotating block 2322 and the connecting block 231 are rotatably connected. The connecting ring groove 2351 and the control line 24 are correspondingly configured, and the connecting ring groove 2351 is used to wind the control line 24. In this embodiment, two connecting ring grooves 2351 are provided, and the connecting ring grooves 2351 are recessed and formed on the circumferential wall surface of the connecting ring grooves 2351. The connecting block 231 is provided with a rotating groove 12, and the rotating block 2322 and the rotating groove 12 are slidably configured.

[0111] It should be noted that the support rod 333 is provided with a threading hole and a threading cavity. The threading hole is used for sliding the linkage joint line, and the threading cavity is used for threading the control line 24. The threading hole and the threading cavity are set independently to avoid interference from the sliding stroke.

[0112] See Figure 11 and Figure 12 The opening / closing handle 21 is provided with a receiving groove 214, which is suitable for receiving a return spring. The housing 1 is provided with a stop member 11, which is suitable for abutting the return spring. The stop member 11 is configured to correspond to the receiving groove 214 and rotate with the opening / closing handle 21. In some embodiments, the stop member 11 is set as an arc-shaped rod, and the central angle of the arc-shaped rod can be consistent with the central angle of the opening / closing handle 21 rotating around the first connecting end 212. The opening / closing angle of the opening / closing handle 21 is limited by the return spring and the stop member 11 placed in the receiving groove 214. When the opening / closing handle 21 is reset, the spring force of the return spring acts on the stop member 1, causing the opening / closing handle 21 to move away from the housing 1. This causes the opening / closing handle 21 to drive the connecting rod assembly 22 to reset and slide. The connecting rod assembly 22 drives the transmission gear condition 232 and the transmission gear component 235 in the connecting assembly 23 to reset and engage, releasing the wound control line 24 and opening the pliers module 25.

[0113] See Figures 1 to 7 The posture adjustment mechanism 3 includes an adjustment handle 31, a rotating component 32, a joint module 33, and a locking component 34. The adjustment handle 31 is movably connected to the housing 1. The rotating component 32 is connected to the adjustment end of the adjustment handle 31 and is rotatably disposed within the housing 1. The joint module 33 is movably disposed within the housing 1. The proximal end of the joint module 33 is drivenly connected to the rotating component 32, and the distal end of the joint module 33 is fixedly connected to the clamp head module 25. The locking component 34 is installed on the drive end of the adjustment handle 31. The joint module 33 is a flexible joint, with its proximal and distal ends linked together. The proximal end of the joint module 33 and the locking component 34 are configured to rotate. The locking component 34 can lock the radial bending of the proximal end of the joint module 33 and the axial displacement of the joint module 33. When the proximal end of the joint module 33 is locked, the adjusting handle 31 drives the rotating component 32 to move the proximal end of the joint module 33 to adjust the rotation angle of the distal end of the joint module 33 and the clamping head module 25 around the extension axis of the joint module 33.

[0114] See Figure 1 and Figure 3 The locking assembly 34 includes a locking member 343 and a locking member 344. The locking member 343 and the adjusting handle 31 are fixedly arranged relative to each other. Under the drive of the adjusting handle 31, the locking member 343 can slide to approach and abut or move away from the locking member 344 to form a locked position and an unlocked position. The locking member 344 is arranged in the sliding direction of the locking member 343. The sliding movement of the adjusting handle 31 drives the locking member 343 to switch between the locked position and the unlocked position.

[0115] The locking member 344 and the proximal end of the joint module 33 are configured for rotatable connection; the rotation axis 323 of the proximal end of the joint module 33 is aligned with the extension axis of the joint module 33. By adjusting the handle 31 to drive the rotating assembly 32, the proximal end of the joint module 33 is rotated, thereby driving the distal end of the joint module 33 and the clamp head module 25 to rotate.

[0116] In this embodiment, see Figures 3 to 6 The rotating assembly 32 includes a fourth gear 325 and a joint sleeve 326. The fourth gear 325 is sleeved on the joint sleeve 326. Locking members 344 are spaced apart inside the joint sleeve 326. The central axis of the joint sleeve 326 coincides with the extension direction of the joint module 33. A bending deformation space is provided in the joint sleeve 326 for the proximal end of the joint module 33. The proximal end of the joint module 33 is provided with a first adapter 331, a first joint unit 332 and a support rod 333 arranged in series. Multiple first joint units 332 are provided. The first adapter 331 and the joint sleeve 326 are fixedly arranged relative to each other. The first joint unit 332 adjacent to the support rod 333 is rotatably connected to the support rod 333. The locking member 344 is rotatably arranged with the first joint unit 332 adjacent to it to allow the proximal end of the joint module 33 to rotate.

[0117] See Figure 6 and Figure 19 The locking member 344 has a mounting cavity 3441, and the first joint unit 332 adjacent to the locking member 344 is movably abutted in the mounting cavity 3441. The mounting cavity 3441 and the joint unit are clearance-fitted to allow external force to adjust the circumferential rotation of the joint module 33 along its extension direction.

[0118] The minimally invasive surgical forceps provided in this embodiment have a mounting cavity 3441 that is clearance-fitted with the first joint unit 332 of the adjacent locking member 344. This allows the locking member 343 and the locking member 344 to remain in the locked position, while still being in the locked position. This allows adjustment of the hand-driven rotating assembly 32 to regulate the circumferential rotation of the proximal end of the joint module 33, thereby correspondingly regulating the circumferential rotation of the forceps head module 25 at the distal end of the joint module 33. This improves the application capability of the minimally invasive surgical forceps and meets the requirement that the forceps head module 25 can still rotate after being locked. In this embodiment, the locking assembly 34 can limit the bending changes of the joint module 33 and the axial displacement of the joint module 33 along its extension direction, but it does not lock the circumferential rotation stroke of the joint module 33.

[0119] In some embodiments, a support rod 333 replaces the first joint unit 332 adjacent to the support rod 333 and is movably connected to the Hooke ball. The support rod 333 is provided with a rotating end 311, which is disposed inside the Hooke ball. The rotating end 311 and the Hooke ball are fitted with a clearance. When the adjusting handle 31 drives the rotating assembly 32 to rotate the proximal end of the joint module 33, the support rod 333 can rotate around the extension axis of the joint module 33.

[0120] In some embodiments, the support rod 333 and the first joint unit 332 adjacent to the support rod 333 are rotatably connected to the Hooke's ball joint. A portion of the structure of the support rod 333 and a portion of the first joint unit 332 adjacent to the support rod 333 are placed inside the Hooke's ball joint, and a clearance fit is also used to achieve the purpose of rotational adjustment of the clamp head module 25 after locking.

[0121] The locking element 344 is sleeved on the support rod 333. The joint sleeve 326 and the locking element 343 are configured to be spaced apart or rotated in contact. Of course, a bearing or bushing can be provided between the joint sleeve 326 and the locking element 343 to reduce friction and enhance the rotational capability of the proximal end of the joint module 33.

[0122] See Figure 12 The housing 1 is provided with a rotating groove 12, which is rotatably configured with the joint sleeve 326. The rotating groove 12 limits the rotation accuracy of the joint sleeve 326, so that the joint sleeve 326 rotates circumferentially around the desired extension direction of the joint module 33.

[0123] In this embodiment, see Figure 6 and Figure 9 The locking component 344 is configured as a Hooke's ball, which is a partially hollow sphere, and is fitted onto the proximal end of the joint module 33. The locking component 343 is configured as an annular structure, and is movably fitted onto the locking component 344. The central axis of the locking component 343 coincides with the center of the Hooke's ball. By configuring the locking component 344 as a Hooke's ball and the locking component 343 as an annular structure fitted onto the locking component 344, a larger contact locking area is provided between the locking component 344 and the locking component 343, which is beneficial for strengthening the connection and locking stability. Coincidentally aligning the central axis of the locking component 343 with the center of the Hooke's ball improves the connection accuracy of the circumferential locking, thereby enhancing the stability of the clamp head module 25 during locking.

[0124] See Figure 9 and Figure 10The locking member 343 has a first locking protrusion distributed in an annular pattern on its inner annular sidewall, and the locking member 344 has a second locking protrusion distributed in an annular pattern on its outer sidewall. By bringing the locking member 343 and the locking member 344 close together, the first locking protrusion and the second locking protrusion abut and limit each other, so as to achieve the locking engagement between the locking member 343 and the locking member 344.

[0125] See Figure 3 and Figure 9 The locking assembly 34 also includes a locking adapter 341, one end of which is connected to the adjusting handle 31, and the other end of which is fixedly connected to the locking member 343; the locking adapter 341 is located on the side of the locking member 343 away from the locking member 344.

[0126] The housing 1 is provided with a sliding space for the locking member 343, so that the locking member 43 can move relative to the joint module 33 to the locking position and the unlocking position; the locking adapter 341 is provided through the sliding space.

[0127] The housing 1 is provided with a positioning groove (not shown in the figure), which passes through the housing 1. See [reference needed]. Figure 9 The locking adapter 341 is provided with a positioning hole 3412. When the locking member 343 is in the locked position, the positioning groove and the positioning hole 3412 are aligned and connected. The positioning groove and the positioning hole 3412 are suitable for receiving and connecting external positioning components. When the locking member 343 and the locking member 344 are connected and in the locked position, the external positioning component is inserted into the positioning groove and the positioning hole 3412 to fix the housing 1 and the locking member 343, thereby fixing and locking the locking member 343 and the locking member 344 to maintain the movement posture of the joint module 33 and the forceps module 25. This helps to reduce the difficulty of use and improve the convenience of use. It can avoid medical personnel from continuously operating the adjustment handle 31 to fix the locking member 343 and the locking member 344, which would cause arm fatigue and affect the quality of surgery. The external positioning component can be partially embedded in the insertion positioning groove and positioning hole 3412 for locking, and partially exposed on the outer wall of the housing 1 to facilitate the operation of medical personnel to lock or separate the housing 1 and the locking adapter 341.

[0128] See Figure 9 The locking assembly 34 is provided with a mounting hole 3411, which is used to connect the adjusting handle 31. When the adjusting handle 31 drives the adjusting joint module 33 to rotate, the locking adapter 341 and the adjusting handle 31 rotate relative to each other, and the mounting hole 3411 and the adjusting handle 31 slide against each other. When the adjusting handle 31 slides to switch the position of the locking component 343, the locking adapter 341 and the adjusting handle 31 slide synchronously. The locking adapter 341 is provided with a connection structure that engages with the adjusting handle 31 in the sliding direction. The connection structure is set as a ring structure to avoid affecting the rotation of the adjusting handle 31.

[0129] See Figure 9 The locking assembly 34 also includes a fixing sleeve 342, which is fixedly connected to the locking member 343. A fixing ring 3413 is provided on the locking adapter 341. The fixing sleeve 342 is assembled through the fixing ring 3413, aligning the fixing sleeve 342 and the locking member 343, thereby enhancing the alignment between the locking member 343 and the locking member 344, achieving effective locking and limiting. In this embodiment, to simplify the structure and facilitate assembly between the fixing sleeve 342 and the locking adapter 341, the fixing ring 3413 is configured as a semi-ring structure, with part of the fixing sleeve 342 fixedly disposed within the fixing ring 3413.

[0130] In this embodiment, see Figures 1 to 7 as well as Figure 16 The distal end of the joint module 33 is provided with a second adapter 335, a second joint unit 336 and a third adapter 337 arranged in series; multiple second joint units 336 are provided, and the third adapter 337 is fixedly connected to the clamp head module 25; the joint module 33 includes a connecting rod 334 and a linkage joint line (not shown in the figure), one end of the connecting rod 334 is fixedly connected to the support rod 333, the other end of the connecting rod 334 is fixedly connected to the second adapter 335, and the linkage joint line passes through the connecting rod 334; at least two linkage joint lines are provided, the proximal end of the linkage joint line is fixedly connected to the first adapter 331, and the distal end of the linkage joint line is fixedly connected to the third adapter 337.

[0131] See Figure 8 The joint module 33 also includes a limiting member 338. The connecting rod 334 is a hollow rod. The limiting member 338 is rotatably installed inside the connecting rod 334. A first limiting cavity 3381 is symmetrically distributed on the outer wall of the limiting member 338. The first limiting cavity 3381 is suitable for accommodating the linkage joint line. The first limiting cavity 3381 and the linkage joint line are correspondingly arranged, and the extension direction of the first limiting cavity 3381 is the same as the extension direction of the connecting rod 334. A second limiting cavity 3382 passes through the limiting member 338. The second limiting cavity 3382 is suitable for slidingly accommodating the control line 24 of the opening and closing mechanism 2. The first limiting cavity 3381 and the second limiting cavity 3382 are independently arranged so that the linkage joint line and the control line 24 are spaced apart. In this embodiment, the length of the connecting rod 334 is not specifically limited.

[0132] In some embodiments, the distal end of the connecting rod 334 is provided with a groove, and the second adapter 335 at the distal end of the joint module 33 is inserted and fixed into the groove.

[0133] The number of the first joint unit 332 and the number of the second joint unit 336 can be set to different numbers; preferably, the number of the first joint unit 332 and the number of the second joint unit 336 can be set to the same number to promote the linkage and synchronization of the proximal and distal ends of the joint module 33.

[0134] In this embodiment, four linkage joint lines are provided, each passing through a slidingly connected joint unit. All four linkage joint lines have the same length. The number of first joint units 332 and second joint units 336 are both set to five. Each joint unit and each adapter has an outlet for the linkage joint lines to slide through. The linkage between the proximal and distal ends of the joint module 33 is achieved through the joint units and linkage joint lines. The elasticity of the linkage joint lines transmits force and torque, causing the proximal and distal ends of the joint module 33 to move together, thereby adjusting the motion posture of the clamp head module 25. It should be noted that the linkage joint lines are configured as flexible lines, requiring a certain tensile strength, but preferably with minimal elasticity or tensile deformation. In one specific embodiment, the linkage joint lines are made of medical shape memory alloy, such as nickel-titanium alloy wire or nickel-titanium alloy thread, or other materials with good strength, so that they can spring back to their original position after bending movements at the proximal and distal ends of the joint module 33.

[0135] Regardless of whether the locking element 343 is in the locked or unlocked position, under the action of external force, the adjusting handle 31 drives the rotating component 32 to drive the joint module 33, thereby adjusting the rotation angle of the forceps head module 25 around the extension direction of the joint module 33. The adjusting handle 31 can be rotated by the medical personnel's hands to drive the rotating component 32 and the proximal end of the joint module 33 to rotate, thereby driving the distal end of the joint module 33 through the proximal end of the joint module 33 to drive the rotation of the forceps head module 25 accordingly. This facilitates surgical operations, allows for flexible adjustment of the rotation of the forceps head module, helps reduce hand fatigue of medical personnel, and improves the quality of surgery.

[0136] Medical personnel can adjust and lock the movement posture of the forceps head module 25 by adjusting the handle 31; by adjusting the handle 31 to drive the locking component 34 to lock the proximal radial bending and axial displacement of the joint module 33, the movement posture of the forceps head module 25 after adjustment can be locked, which can improve the stability of the forceps head module 25 during clamping; after locking, the adjustment handle 31 can be rotated to drive the rotating component 32 to drive the joint module 33 to rotate, so that the joint module 33 drives the forceps head module 25 to rotate around the extension direction of the joint module 33, so that the minimally invasive surgical forceps can meet the operational needs of flexibly adjusting the different circumferential angles of the forceps head module 25; the pitch, yaw and rotation of the forceps head module 25 can be adjusted by the joint module 33; the minimally invasive surgical forceps provided by the present invention are easy to operate, and the front forceps head module 25 can still be adjusted by rotation after being locked, which enhances the application capability of the surgical forceps, helps to reduce the hand fatigue of medical personnel, and improves the quality of surgery.

[0137] See Figure 17 The adjusting handle 31 includes a rotating end 311, a mounting bracket 312, and a connecting shaft 314. The rotating end 311 and the mounting bracket 312 are fixedly connected. The connecting shaft 314 is inserted into the end of the mounting bracket 312 away from the rotating end 311. The rotating end 311 is externally located in the housing 1. The connecting shaft 314 is connected to the rotating assembly 32 via a transmission. The rotating end 311 drives the mounting bracket 312 and the connecting shaft 314 to rotate, thereby driving the rotating assembly 32 and the proximal end of the joint module 33, causing the distal end of the joint module 33 and the corresponding jaw module 25 to rotate. The jaw module 25 can be rotated left or right by rotating the rotating end 311 accordingly. The rotating end 311 and the mounting bracket 312 can be configured as a single piece.

[0138] See Figures 2 to 6The rotating assembly 32 includes a gear set, a support bearing assembly, and a rotating shaft 323. The gear set includes a first gear 321, a second gear 322, a third gear 324, and a fourth gear 325 arranged parallel to each other along their axial center lines. The first gear 321 and the second gear 322 are meshed together, and the third gear 324 and the fourth gear 325 are meshed together. The connecting shaft 314 is drivenly connected to the first gear 321. One end of the rotating shaft 323 is drivenly connected to the second gear 322, and the other end of the rotating shaft 323 is drivenly connected to the third gear 324. The joint sleeve 326 is sleeved and fixed on the fourth gear 325. The support bearing assembly includes a first bearing 327, a second bearing 328, and a third bearing 329. Any bearing is rotatably configured with the rotating shaft 323. The first bearing 327 and the third bearing 329 are opposite to each other and sleeved at both ends of the rotating shaft 323 in the extension direction. The second bearing 328 is sleeved on the middle section of the rotating shaft 323. By adjusting the handle 31, the first gear 321 is driven by the connecting shaft 314 in the shaft 314. Along the transmission path, the second gear 322, the third gear 324, the rotating shaft 323, the fourth gear 325, and the joint sleeve 326 are driven to rotate in sequence. The joint sleeve 326 drives the proximal end of the joint module 33 to rotate, thereby achieving the purpose of driving the proximal end of the joint module 33 to rotate by adjusting the handle 31.

[0139] In some embodiments, the joint sleeve 326 and the fourth gear 325 are integrally formed, which helps to reduce assembly errors and enhance structural accuracy.

[0140] The rotating component 32 can be arranged along the inner space of the housing 1 for gripping. The housing 1 can be gripped with the right hand and the adjustment handle 31 can be operated with the left hand to make the rotating component 32 rotate with the adjustment handle 31. The rotating component 32 drives the joint module 33 and the forceps module 25 to rotate accordingly. The overall layout conforms to ergonomics and facilitates the adjustment of the hand movements of medical personnel.

[0141] See Figure 13 The housing 1 is provided with a support structure 13, which is rotatably configured with the rotating assembly 32. The support structure 13 is used to install the support bearing assembly, and serves to limit the position of the support bearing assembly and bear the load. The support structure 13 can be configured as a support block, with the support block and bearing correspondingly arranged.

[0142] See Figure 9 To improve structural compactness and reduce the volume of the overall housing 1, a clearance cavity 3414 is provided on the locking adapter 341. The clearance cavity 3414 can be used to avoid the rotating assembly 32, and at the same time, the clearance cavity 3414 forms the assembly space for the second gear 322 in the rotating assembly 32.

[0143] The locking member 343 and the locking member 344 are provided with a locking engagement structure; in the locked position, the locking engagement structure is used to limit the axial displacement of the joint module 33 along its extension direction to lock the posture of the pliers module 25.

[0144] In some embodiments, the locking engagement structure includes a first locking protrusion and a second locking protrusion. One of the first locking protrusion and the second locking protrusion is disposed on the locking member 343, and the other is disposed on the engaging member 344. Any locking protrusion is disposed on the opposing end faces of the locking member 343 and the engaging member 344. In the locked position, the first locking protrusion and the second locking protrusion are interlocked and limited to each other, thereby limiting the extension direction of the joint module 33. In the unlocked position, the first locking protrusion and the second locking protrusion are disengaged from each other.

[0145] In some embodiments, the locking engagement structure includes a locking protrusion and a locking groove. One of the locking protrusion and the locking groove is disposed on the locking member 343, and the other is disposed on the locking member 344. The locking protrusion and the locking groove are correspondingly disposed on the facing end faces of the locking member 343 and the locking member 344, and the locking protrusion and the locking groove are conformally correspondingly disposed. In the locked position, the locking protrusion and the locking groove are engaged and limited, which can limit the extension direction of the joint module 33. In the unlocked position, the locking protrusion and the locking groove are disengaged and limited.

[0146] In the above description, the locking protrusion can be configured as a frustum structure; for example, the locking member 343 is provided with a first locking protrusion, and the radial dimension of the frustum structure gradually decreases along the direction away from the wall of the locking member 343; the locking member 344 is provided with a second locking protrusion, and the radial dimension of the frustum structure gradually decreases along the direction away from the wall of the locking member 343. The first locking protrusion and the second locking protrusion form a locking engagement space, which facilitates mutual limiting and locking between the locking member 343 and the locking member 344 and disengagement from limiting.

[0147] As a variation, the locking protrusion is configured as a sliding plate structure, and multiple locking protrusions are arranged with intervals between them to form a locking engagement space; for example, the locking protrusion is provided on the locking member 343, the sliding plate structure, and the locking member 344 is provided with a locking groove. The sliding plate structure moves closer to the locking member 344 by the movement of the locking member 343 to insert into the locking groove, so as to achieve the purpose of locking and limiting between the locking member 343 and the locking member 344.

[0148] As a variation, the locking protrusion is configured as a spiral structure, and multiple locking protrusions are arranged, spaced apart from each other to form a locking engagement space; for example, the locking member 343 is provided with a first locking protrusion, and the locking member 344 is provided with a second locking protrusion. Both the first and second locking protrusions are configured as spiral structures. By moving the locking member 343 closer to the locking member 344, the first and second locking protrusions approach and abut against each other for a limiting position, so as to achieve the purpose of locking and limiting between the locking member 343 and the locking member 344.

[0149] The minimally invasive surgical forceps provided in this embodiment, by adjusting the handle 31, drives the locking member 343 to slide closer to the locking member 344, so that the locking member 343 and the locking member 344 come into contact to form a locking position, thereby locking and positioning the joint module 33 through the locking member 343, so that the forceps head module 25 at the distal end of the joint module 33 maintains the adjusted movement posture, achieving the purpose of clamping stability of the forceps head module 25; correspondingly, when the locking member 343 is driven away from the locking member 344 by adjusting the handle 31, the locking member 343 and the locking member 344 are separated to form an unlocking position, so that the movement posture of the forceps head module 25 can be adjusted by adjusting the handle 31 or by external force; its locking and unlocking process is convenient to adjust, which is conducive to quickly adjusting the movement posture of the forceps head module 25.

[0150] The adjustment handle 31 and the housing 1 are configured to slide together. Under the action of external force, the adjustment handle 31 has a sliding state that drives the locking member 343 to switch between a locked position and an unlocked position. When the locking member 343 is in the unlocked position, the locking member 343 unlocks the joint module 33, allowing the joint module 33 to adjust the posture of the pliers module 25, such as adjusting the pitch, yaw, and rotation of the pliers module 25 and their combinations. When the locking member 343 is in the locked position, the locking member 343 locks the joint module 33, allowing the joint module 33 to adjust the posture of the pliers module 25 to perform rotation.

[0151] When the joint module 33 is not subjected to external force and is in its initial state, its linkage joint line is in a straight line. The connecting rod 334 is parallel to the linkage joint line. The first adapter 331, the first joint unit 332, and the support rod 333 connected in series at the proximal end of the joint module 33 are in a straight line. The second adapter 335, the second joint unit 336, and the third adapter 337 connected in series at the distal end of the joint module 33 are also in a straight line. The clamp head module 25 is located along the length of the distal end of the joint module 33. In the above description, the extension direction of the joint module 33 is set as the axial length direction of the joint module 33 in its straight line state.

[0152] When adjusting the pitch and tilt of the forceps module 25, the locking member 343 is in the unlocked position. The connecting rod 334 can be contacted via hand or external support ring. The other hand operates the housing 1. For example, when a medical professional holds the housing 1 upwards, the joint sleeve 326 inside the housing 1 acts on the first joint unit 332 and the first adapter 331 at the proximal end of the joint module 33, causing them to gradually bend upwards. The upper linkage line within the proximal end of the joint module 33 is compressed by the first joint unit 332 and the first adapter 331, while the lower linkage line within the proximal end of the joint module 33... The joint line is stretched by the first joint unit 332 and the first adapter 331, causing the proximal end of the linkage joint line to gradually bend and move upward. Simultaneously, due to the elastic flexure of the linkage joint line itself, the distal end of the linkage joint line gradually bends and moves downward, correspondingly causing the second joint unit 336 and the second adapter 335 at the distal end of the joint module 33 to gradually bend and move downward. This causes the forceps head module 25 at the distal end of the joint module 33 to move downward along with the distal end of the joint module 33, thereby moving the forceps head module 25 to the desired working area for clamping operations on the tissue to be treated. Correspondingly, when the medical personnel hold the operating housing 1 downward, the joint sleeve 326 inside the housing 1 causes the first joint unit 332 and the first adapter 331 at the proximal end of the joint module 33 to gradually bend and move downward. The proximal end of the linkage joint line also gradually bends and moves downward, while the distal end of the linkage joint line gradually bends and moves upward, causing the joint module 33 and the forceps head module 25 to gradually bend and move upward. This causes the forceps head module 25 to move to the desired working area for clamping operations on the tissue to be treated.

[0153] When adjusting the left and right swaying motion of the forceps head module 25, its working principle is similar to that of adjusting the up and down tilting motion of the forceps head module 25. The difference is that the medical personnel hold the operating housing 1 and operate the housing 1 to the left or right. Of course, this embodiment is not limited to adjusting the up, down, left and right directions. The movement position of the forceps head module 25 can also be adjusted by the joint module 33 according to the actual needs of the medical personnel.

[0154] When adjusting the rotation of the pliers module 25, the adjustment handle 31 is rotated directly, causing it to drive the rotating component 32, which in turn rotates the proximal end of the joint module 33. The force and torque are transmitted via the elasticity of the linkage line, causing the distal end of the joint module 33 to rotate accordingly. It should be noted that the pliers module 25 can perform rotation adjustment in any posture.

[0155] As described above, the forceps module 25 can be replaced with surgical instruments such as tissue scissors, electrosurgical units, electroclamps, and suction devices to process the tissue to be treated.

[0156] See Figure 18The adjusting handle 31 also includes a flexible buckle 313, a release element 315, and a connecting element 316. The flexible buckle 313 is formed on the mounting set 312 and engages with the housing 1. The release element 315 is used to release the engagement between the flexible buckle 313 and the housing 1 and passes through the rotating end 311 and the mounting set 312. One end of the connecting element 316 is fixedly connected to the flexible buckle 313, and the other end of the connecting element 316 is fixedly connected to the release element 315. The connecting element 316 and the flexible buckle 313 are correspondingly configured. The mounting set 312 is provided with a deformation space for the flexible buckle 313 and the connecting element 316 to move toward the mounting set 312. In this embodiment, there are two flexible buckles 313, which are symmetrically formed on the mounting set 312. The adjusting handle 31 and the housing 1 are connected by a flexible snap-fit ​​313. The adjustment handle 31 with the flexible snap-fit ​​313 is pressed into the housing 1. When it is necessary to disassemble the adjusting handle 31, the snap-fit ​​between the flexible snap-fit ​​313 and the housing 1 is released by the release member 315. The release member 315 drives the connecting member 316 and the flexible snap-fit ​​313, so that the flexible snap-fit ​​313 moves toward the deformation space in the assembly 312, and the outer wall of the flexible snap-fit ​​313 is disengaged from the housing 1. The assembly and disassembly of the adjusting handle 31 and the housing 1 are convenient.

[0157] Preferably, the end of the release member 315 is exposed above the adjustment handle 31, and the release member 315 exposed above the adjustment handle 31 is facilitated to move toward the housing 1 by pressing with a finger.

[0158] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A minimally invasive surgical forceps, comprising a housing (1) and a forceps head module (25), said forceps head module (25) being disposed at the distal end of the minimally invasive surgical forceps, characterized in that, Also includes: Adjusting handle (31) is movably connected to the housing (1); A rotating assembly (32) is connected to the adjusting end of the adjusting handle (31), and the rotating assembly (32) is rotatably disposed inside the housing (1); The joint module (33) is movably configured within the housing (1). The proximal end of the joint module (33) is connected to the rotating assembly (32) via a transmission, and the distal end of the joint module (33) is fixedly connected to the clamp head module (25). The proximal and distal ends of the joint module (33) are linked together. And a locking assembly (34) is installed at the drive end of the adjusting handle (31); The locking assembly (34) includes a locking member (343) and a locking member (344). The locking member (343) and the adjusting handle (31) are fixedly disposed relative to each other. Under the drive of the adjusting handle (31), the locking member (343) can slide to approach or move away from the locking member (344) to form a locking position and an unlocking position. The locking member (344) is disposed in the sliding direction of the locking member (343). The locking member (344) and the proximal end of the joint module (33) are configured to be rotatably connected; the rotation axis (323) of the proximal end of the joint module (33) coincides with the extension axis of the joint module (33); The rotating assembly (32) includes a joint sleeve (326), the central axis of which is aligned with the extension direction of the joint module (33); the joint sleeve (326) contains a bending deformation space for the proximal end of the joint module (33); the proximal end of the joint module (33) is provided with a first adapter (331), which is fixedly disposed relative to the joint sleeve (326); The locking member (344) is configured as a Hooke's sphere, which is a partially hollow sphere, and is sleeved and installed on the proximal end of the joint module (33); the locking member (343) is configured as an annular structure, and is movably sleeved on the locking member (344); the central axis of the locking member (343) coincides with the center of the Hooke's sphere; The locking assembly (34) can abut against the locking member (344) in the locked position via the locking member (343) to lock the radial bending of the proximal end of the joint module (33) and the axial displacement of the joint module (33); when the locking member (343) is in the locked position and the proximal end of the joint module (33) is in the locked state, the adjusting handle (31) has the ability to drive the rotating assembly (32) to rotate the joint sleeve (326), and the proximal and distal ends of the joint module (33) and the clamp head module (25) rotate around the extension axis of the joint module (33).

2. The minimally invasive surgical forceps according to claim 1, characterized in that, The rotating assembly (32) further includes a fourth gear (325), which is sleeved on the joint sleeve (326), and the locking member (344) is spaced apart inside the joint sleeve (326); The joint module (33) is a flexible joint. The proximal end of the joint module (33) is also provided with a first joint unit (332) and a support rod (333). The first adapter (331), the first joint unit (332) and the support rod (333) are connected in series. Multiple first joint units (332) are provided. The first joint unit (332) adjacent to the support rod (333) is configured to be rotatably connected to the support rod (333). The locking member (344) is rotatably disposed relative to the first joint unit (332) adjacent thereto, so as to allow the joint module (33) to rotate proximally.

3. The minimally invasive surgical forceps according to claim 2, characterized in that, The locking member (344) has a mounting cavity (3441), and the first joint unit (332) adjacent to the locking member (344) is movably abutted within the mounting cavity (3441). The mounting cavity (3441) and the joint unit are clearance-fitted to allow external force to adjust the circumferential rotation of the joint module (33) along its extension direction; and / or The locking member (344) is sleeved on the support rod (333); the joint sleeve (326) and the locking member (343) are configured to be spaced apart or rotated against each other; and / or The housing (1) is provided with a rotating groove (12), which is rotatably configured with the joint sleeve (326).

4. The minimally invasive surgical forceps according to claim 2, characterized in that, The adjusting handle (31) includes a rotating end (311), a mounting bracket (312), and a connecting shaft (314). The rotating end (311) and the mounting bracket (312) are fixedly connected, and the connecting shaft (314) is inserted into the end of the mounting bracket (312) away from the rotating end (311). The rotating end (311) is externally located in the housing (1), and the connecting shaft (314) is kinetically connected to the rotating assembly (32). The rotating assembly (32) includes a gear set, a support bearing assembly, and a rotating shaft (323); The gear set includes a first gear (321), a second gear (322), and a third gear (324) arranged parallel to each other along their axial center lines. The first gear (321) and the second gear (322) are meshed together, and the third gear (324) and the fourth gear (325) are meshed together. The connecting shaft (314) is driven by the first gear (321). One end of the rotating shaft (323) is driven by the second gear (322), and the other end of the rotating shaft (323) is driven by the third gear (325). The gear (324) is connected by a transmission, and the joint sleeve (326) is sleeved and fixed on the fourth gear (325); the support bearing assembly includes a first bearing (327), a second bearing (328) and a third bearing (329), any bearing and the rotating shaft (323) are rotatably configured, the first bearing (327) and the third bearing (329) are opposite to each other and sleeved at both ends of the extending direction of the rotating shaft (323), and the second bearing (328) is sleeved on the middle section of the rotating shaft (323).

5. The minimally invasive surgical forceps according to claim 4, characterized in that, The adjusting handle (31) further includes a flexible buckle (313), a release member (315), and a connecting member (316). The flexible buckle (313) is formed on the mounting set (312) and is engaged in the housing (1). The release member (315) is used to release the engagement between the flexible buckle (313) and the housing (1). The release member (315) passes through the rotating end (311) and the mounting set (312). One end of the connecting member (316) is fixedly connected to the flexible buckle (313), and the other end of the connecting member (316) is fixedly connected to the release member (315). The connecting member (316) and the flexible buckle (313) are correspondingly configured. The mounting set (312) is provided with a deformation space for the flexible buckle (313) and the connecting member (316) to move toward the mounting set (312).

6. The minimally invasive surgical forceps according to claim 2, characterized in that, The distal end of the joint module (33) is provided with a second adapter (335), a second joint unit (336) and a third adapter (337) arranged in series; multiple second joint units (336) are provided, and the third adapter (337) is fixedly connected to the pliers module (25); The joint module (33) includes a connecting rod (334) and a linkage joint line. One end of the connecting rod (334) is fixedly connected to the support rod (333), and the other end of the connecting rod (334) is fixedly connected to the second adapter (335). The linkage joint line passes through the connecting rod (334). At least two linkage joint lines are provided. The proximal end of the linkage joint line is fixedly connected to the first adapter (331), and the distal end of the linkage joint line is fixedly connected to the third adapter (337).

7. The minimally invasive surgical forceps according to claim 6, characterized in that, The joint module (33) further includes a limiting member (338). The connecting rod (334) is configured as a hollow rod. The limiting member (338) is rotatably installed in the connecting rod (334). The outer wall surface of the limiting member (338) has a first limiting cavity (3381) symmetrically distributed. The first limiting cavity (3381) is adapted to accommodate the linkage joint line. The first limiting cavity (3381) and the linkage joint line are correspondingly arranged. The extension direction of the first limiting cavity (3381) is the same as the extension direction of the connecting rod (334). The limiting member (338) is provided with a second limiting cavity (3382), which is adapted to slide and receive the control line (24) of the opening and closing mechanism (2).

8. The minimally invasive surgical forceps according to claim 1, characterized in that, The locking assembly (34) further includes a locking adapter (341), one end of which is connected to the adjusting handle (31) and the other end of which is fixedly connected to the locking member (343); the locking adapter (341) is located on the side of the locking member (343) away from the locking member (344).

9. The minimally invasive surgical forceps according to claim 8, characterized in that, The housing (1) is provided with a positioning groove, and the locking adapter (341) is provided with a positioning hole (3412). When the locking member (343) is in the locking position, the positioning groove and the positioning hole (3412) are connected and aligned. The positioning groove and the positioning hole (3412) are adapted to accommodate and connect at least part of the external positioning member.

10. The minimally invasive surgical forceps according to claim 9, characterized in that, It also includes a fixing sleeve (342), which is fixedly connected to the locking member (343); the locking adapter (341) is provided with a fixing ring (3413), and at least a portion of the fixing sleeve (342) is fixedly disposed within the fixing ring (3413); and / or The locking adapter (341) is provided with a clearance cavity (3414), which is used to avoid the rotating assembly (32).

11. The minimally invasive surgical forceps according to claim 1, characterized in that, The locking member (343) and the locking member (344) are provided with locking engagement structures; in the locked position, the locking engagement structure is used to limit the axial displacement of the joint module (33) along its extension direction to lock the posture of the pliers module (25).

12. The minimally invasive surgical forceps according to claim 11, characterized in that, The locking engagement structure includes a first locking protrusion and a second locking protrusion. One of the first locking protrusion and the second locking protrusion is disposed on the locking member (343), and the other is disposed on the locking member (344). Each locking protrusion is disposed on the opposing end faces of the locking member (343) and the locking member (344). In the locked position, the first locking protrusion and the second locking protrusion are mutually engaged and limited. In the unlocked position, the first locking protrusion and the second locking protrusion are mutually disengaged and limited. The locking mechanism includes a locking protrusion and a locking groove. One of the locking protrusion and the locking groove is disposed on the locking member (343), and the other is disposed on the locking member (344). The locking protrusion and the locking groove are correspondingly disposed on the opposite end faces of the locking member (343) and the locking member (344), and the locking protrusion and the locking groove are conformally corresponding. In the locked position, the locking protrusion and the locking groove are engaged and limited. In the unlocked position, the locking protrusion and the locking groove are disengaged and limited.

13. The minimally invasive surgical forceps according to claim 12, characterized in that, Any locking protrusion is configured as a frustum structure, a sliding plate structure, or a spiral structure. On the locking member (343) and / or the engaging member (344), adjacent locking protrusions are spaced apart from each other to form a locking engagement space.

14. The minimally invasive surgical forceps according to any one of claims 1-13, characterized in that, It also includes an opening and closing mechanism (2), which includes an opening and closing handle (21) and at least one control line (24). The opening and closing handle (21) is movably connected to the housing (1). One end of the control line (24) is connected to the opening and closing handle (21) and the other end of the control line (24) is fixedly connected to the clamp head module (25). The control line (24) slides through the joint module (33). The opening and closing handle (21) is used to retract the control line (24) to drive the clamp head module (25) to close to clamp or open to release the tissue to be processed.

15. The minimally invasive surgical forceps according to claim 14, characterized in that, The opening and closing handle (21) is provided with a gripping end (211) and a first connecting end (212). The first connecting end (212) is rotatably connected to the housing (1). The opening and closing handle (21) can rotate around the rotation center of the first connecting end (212) and the housing (1). During the rotation stroke of the opening and closing handle (21), at least part of the gripping end (211) is exposed on the outside of the housing (1).

16. The minimally invasive surgical forceps according to claim 15, characterized in that, It also includes a linkage assembly (22) and a connecting assembly (23). The linkage assembly (22) is disposed between the opening and closing handle (21) and the connecting assembly (23). The connecting assembly (23) is connected to the control line (24) in a driving manner. The linkage assembly (22) is used to drive the connecting assembly (23) to slide and retract the control line (24) during the rotation stroke of the opening and closing handle (21).

17. The minimally invasive surgical forceps according to claim 16, characterized in that, The opening and closing handle (21) is provided with a second connecting end (213). The linkage assembly (22) includes a first link (221), a second link (222), and a third link (223). One end of the first link (221) is rotatably connected to the second connecting end (213), and the other end of the first link (221) is rotatably connected to one end of the second link (222). The second link (222) and the third link (223) are fixedly connected. The opening and closing handle (21) drives the first link (221) to drive the second link (222) and the third link (223) to slide synchronously parallel to the extension direction of the joint module (33). The housing (1) is provided with a guide structure, which is adapted to guide the movement of the connecting rod assembly (22).

18. The minimally invasive surgical forceps according to claim 16, characterized in that, The connecting assembly (23) includes a connecting block (231), a transmission gear condition (232), a connecting seat (233), a connecting shaft (234), and a transmission gear component (235); The connecting block (231) and the transmission end of the connecting rod assembly (22) are detachably connected. The transmission gear condition (232) and the connecting block (231) are configured to be rotatably connected. The transmission gear (235) is rotatably mounted on the connecting seat (233) via the connecting shaft (234). The connecting seat (233) and the joint module (33) are fixedly connected. The transmission gear (235) and the proximal end of the control line (24) are fixedly connected. When the opening and closing handle (21) drives the connecting assembly (23) to slide, the transmission gear condition (232) and the transmission gear (235) mesh and drive, so that the transmission gear (235) winds up and unwinds the control line (24).

19. The minimally invasive surgical forceps according to claim 18, characterized in that, The transmission gear condition (232) includes a connecting tooth block (2321) and a rotating block (2322). The transmission gear component (235) includes a connecting ring groove (2351) and a gear block (2352). The connecting tooth block (2321) and the gear block (2352) are meshed together. The rotating block (2322) and the connecting block (231) are rotatably connected. The connecting ring groove (2351) and the control line (24) are correspondingly configured. The connecting ring groove (2351) is used to wind the control line (24).

20. The minimally invasive surgical forceps according to claim 15, characterized in that, The opening and closing handle (21) is provided with a receiving groove (214) which is suitable for receiving a return spring; the housing (1) is provided with a stop (11) which is suitable for abutting the return spring, and the stop (11) is configured to face the receiving groove (214) in accordance with the rotation stroke of the opening and closing handle (21).

21. The minimally invasive surgical forceps according to claim 14, characterized in that, The pliers head module (25) includes a pliers body (251), at least one pliers head, and a connecting pin (254). The connecting pin (254) is installed inside the pliers body (251). The pliers head is rotatably connected to the pliers body (251) through the connecting pin (254). The pliers head and the control line (24) are configured accordingly.

22. The minimally invasive surgical forceps according to any one of claims 1-13, characterized in that, The housing (1) is provided with a sliding space for the locking member (343) in the locking assembly (34), so that the locking member (343) can move relative to the joint module (33) to the locking position and the unlocking position; and / or The housing (1) is provided with a support structure (13), and the support structure (13) and the rotating assembly (32) are rotatably configured together.

Images