Laparoscopic surgical instruments based on gear control

Abstract

An embodiment of the present invention provides a laparoscopic surgical instrument based on gear control, including: a clamp head assembly, used for clamping a target; an instrument rod, the clamp head assembly is rotatably connected to one end of the instrument rod; a push rod, which is built into the instrument rod and can slide relative to the instrument rod, and one end of the push rod is rotatably connected to the clamp head assembly; the push rod is configured to drive the clamp head assembly to swing around the head end of the instrument rod under the drive of a first force parallel to the length direction of the push rod; an opening and closing drive rod, which is built into the push rod and can slide relative to the push rod, one end of the opening and closing drive rod is connected to the clamp head assembly, and is configured to drive the clamp head assembly to open and close under the drive of a second force parallel to the length direction of the opening and closing drive rod; a control mechanism, including an opening and closing trigger and a gear structure, the gear structure is connected to one end of the opening and closing trigger, and the other end of the opening and closing drive rod is connected to the gear structure, and the gear structure is driven to rotate by pressing the opening and closing trigger to apply the second force to the opening and closing drive rod.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive surgical instruments, and in particular to a laparoscopic surgical instrument based on gear control. Background Art

[0002] Traditional laparoscopic surgical instruments are not ergonomic and are limited by less freedom of movement within the cavity, which severely restricts the operator in performing simple operations and makes it difficult for many surgeons to perform various minimally invasive operations and surgeries. Currently, the most widely used laparoscopic surgical instruments include: traditional straight manual instruments and surgical instruments based on consoles and large surgical robots. Surgical robotic systems provide greater flexibility, stability, surgical field clarity, and 3D vision, but require a lot of financial costs and logistical complexity, resulting in complex surgical robots. Compared with traditional laparoscopic instruments, robotic equipment has not shown a sufficiently large market advantage. Current handheld surgical instruments are still the mainstream tools for clinical surgery and have a broad user base.

[0003] With the maturity of multi-joint surgical instrument technology, handheld robotic surgical instruments have emerged. Compared with traditional surgical instruments, new laparoscopic surgical instruments can provide some functions that can only be found in surgical robot systems at a lower cost. For example, multi-degree-of-freedom joints provide a more flexible and natural operating experience, without the need for complex limb movements; achieving multi-angle operation by achieving simultaneous and smooth movement of multiple joints can shorten the operation time, provide better surgical incisions, etc., thereby improving the quality of surgery. This has an impact on the minimally invasive surgery market. Compared with complex surgical robots, new laparoscopic surgical instruments are more flexible and practical, and have better economy and liquidity.

[0004] There are two main ways to control the clamp head in existing laparoscopic surgical instruments. One way is to use wire control to achieve the opening and closing control and deflection of the clamp head. Four tungsten wire ropes are required inside the connecting rod, which takes up space and makes the connecting rod diameter 9mm. The connecting rod is too thick and the instrument is not small enough. In addition, when the connecting rod rotates axially, the internal tungsten wire ropes will be twisted together, increasing the risk of easy breakage. Another way is to control the opening and closing of the clamp head by passing a tungsten wire rope around the pulley block. This method can reduce the space occupied by the connecting rod and reduce the risk of easy breakage of the tungsten wire rope.

[0005] However, both of the above two methods have the problem of insufficient mechanical strength when controlling the opening and closing of the clamp head, resulting in a small positive pressure of the clamp head, which is not conducive to the clamping of the clamp head. In addition, the insufficient mechanical strength will also lead to the problem of low control accuracy. Summary of the invention

[0006] In view of this, the present invention provides a laparoscopic surgical instrument based on gear control, which is used to solve the above technical problems existing in the existing laparoscopic surgical instruments.

[0007] An embodiment of the present invention provides a laparoscopic surgical instrument based on gear control, comprising: a clamp head assembly for clamping a target; an instrument rod, the clamp head assembly being rotatably connected to one end of the instrument rod; a push rod, which is built into the instrument rod and can slide relative to the instrument rod, and one end of the push rod is rotatably connected to the clamp head assembly; the push rod is configured to: drive the clamp head assembly to swing around the head end of the instrument rod under the drive of a first force parallel to the length direction of the push rod; an opening and closing drive rod, which is built into the push rod and can slide relative to the push rod, and one end of the opening and closing drive rod is connected to the clamp head assembly, and the opening and closing drive rod is configured to: drive the clamp head assembly to open and close under the drive of a second force parallel to the length direction of the opening and closing drive rod; a control mechanism, comprising an opening and closing trigger and a gear structure, the gear structure being connected to one end of the opening and closing trigger, and the other end of the opening and closing drive rod being connected to the gear structure, wherein the gear structure is driven to rotate by pressing the opening and closing trigger to apply the second force to the opening and closing drive rod.

[0008] According to an embodiment of the present invention, the control mechanism also includes: a handle housing, a first support shaft and a second support shaft, the first support shaft and the second support shaft are fixed to the handle housing; the gear structure includes a driving gear and a driven gear, the driving gear is rotatably connected to the first support shaft, the driven gear is rotatably connected to the second support shaft, and the driving gear is meshed with the driven gear; wherein, when the opening and closing trigger is pressed, the opening and closing trigger rotates around the first support shaft, driving the driving gear to rotate synchronously, and under the meshing action, the driving gear drives the driven gear around the second support shaft to apply a second force to the opening and closing drive rod.

[0009] According to an embodiment of the present invention, the control mechanism further includes: a rigid spring sheet, one end of which is fixedly connected to one end of the opening and closing trigger, and the other end of which is fixedly connected to the handle housing, and the rigid spring sheet is configured to provide a restoring force for the opening and closing trigger.

[0010] According to an embodiment of the present invention, the material of the gear structure includes a metal material.

[0011] According to an embodiment of the present invention, the control mechanism also includes: a slider guide rail, which is fixed on the handle housing; a yaw dial and a cam, the yaw dial is fixedly connected to the cam and is coaxial, and the cam is provided with a curved groove; a yaw seat, a sliding shaft is provided at the bottom, the yaw seat is slidably installed in the slider guide rail, the sliding shaft is slidably installed in the curved groove, and the other end of the push rod is installed in the yaw seat; wherein, the cam is driven to rotate by rotating the yaw dial, the sliding shaft moves relative to the curved groove, and the yaw seat is driven to slide relative to the slider guide to drive the push rod to move in a direction parallel to the length direction of the push rod.

[0012] According to an embodiment of the present invention, the curved groove is an Archimedean line.

[0013] According to an embodiment of the present invention, the control mechanism further includes: a self-rotating dial wheel, which is mounted on the instrument rod and connected to the swing seat. The self-rotating dial wheel is configured to drive the instrument rod to rotate to drive the forceps head assembly to rotate.

[0014] According to an embodiment of the present invention, one end of the opening and closing driving rod connected to the pliers head assembly is a flexible shaft.

[0015] According to an embodiment of the present invention, the forceps head assembly includes grasping forceps, separating forceps, needle holding forceps, scissors or clip appliers.

[0016] The laparoscopic surgical instrument based on gear control provided in the embodiment of the present invention can at least achieve the following technical effects:

[0017] By connecting the gear structure with the opening and closing drive rod, the force to drive the forceps to open and close is provided. Since the gear structure has strong rigidity, compared with the wire control and pulley control methods, the mechanical strength of the control mechanism is improved while occupying less space inside the instrument rod, thereby increasing the maximum positive pressure of the forceps, making the laparoscopic surgical instrument more able to meet the use scenario of forceps clamping. In addition, since the gear structure has strong rigidity, when manually pressing the opening and closing mechanism to apply force, the opening and closing angle of the opening and closing mechanism can be better controlled, thereby improving the control accuracy of the opening and closing of the forceps.

[0018] The opening and closing trigger is connected to the handle housing by a rigid spring clip, which further improves the mechanical strength of the control mechanism compared to the traditional spring connection method, thereby improving the maximum positive pressure and control accuracy of the pliers head.

[0019] On the basis of controlling the opening and closing of the clamp head based on the gear structure, the structures of yaw control and rotation control are added, which can realize the control of the three directions of freedom of the clamp head while occupying a small space and avoiding the breakage of the tungsten wire rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0021] Figure 1 The three-dimensional structure diagram of a laparoscopic surgical instrument based on gear control according to an embodiment of the present invention is schematically shown.

[0022] Figure 2 The structure diagram of the control mechanism according to the embodiment of the present invention is schematically shown.

[0023] Figure 3The exploded structure diagram of a control mechanism according to an embodiment of the present invention is schematically shown.

[0024] Figure 4 The exploded structure diagram of the control mechanism in the first direction according to another embodiment of the present invention is schematically shown.

[0025] Figure 5 The exploded structure diagram of the control mechanism in the second direction according to another embodiment of the present invention is schematically shown.

[0026] Figure 6 The structure of a clamp head assembly according to an embodiment of the present invention is schematically shown.

[0027] Figure 7 The installation structure diagram of the slide groove structure and the push rod according to an embodiment of the present invention is schematically shown.

[0028] Figure 8 The structure of the clamp head assembly after deflection according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the description of the present invention, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the subsystem or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention. The shapes, sizes, and positional relationships of the components in the drawings do not reflect the actual size, proportion, and actual positional relationship. In addition, in the present invention, any reference symbol between brackets should not be constructed as a limitation to the present invention.

[0034] Similarly, in order to simplify the present invention and help understand one or more of the various disclosed aspects, in the above description of exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. The description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] Figure 1 The three-dimensional structure diagram of a laparoscopic surgical instrument based on gear control according to an embodiment of the present invention is schematically shown. Figure 2 The structure diagram of a control mechanism according to an embodiment of the present invention is schematically shown.

[0037] like Figure 1 and Figure 2 As shown, the gear-controlled laparoscopic surgical instrument may include a forceps head assembly 1 , an instrument rod 2 , a push rod 3 , an opening and closing drive rod 4 , and a control mechanism 5 .

[0038] The forceps head assembly 1 is used to clamp a target. The target can be understood as an object to be clamped during laparoscopic surgery. The forceps head assembly 1 can include grasping forceps, separating forceps, needle holding forceps, scissors or clip applicators, etc.

[0039] The forceps head assembly 1 is rotatably connected to one end of the instrument rod 2. The instrument rod 2 is a hollow structure, and the push rod 3 is built in the instrument rod 2, and one end is rotatably connected to the forceps head assembly 1. The push rod 3 is configured to: under the drive of the first force parallel to the length direction of the push rod 3, drive the forceps head assembly 1 to swing around the head end of the instrument rod 2 to achieve yaw.

[0040] The push rod 3 may also be a hollow structure, and the opening and closing driving rod 4 is built in the push rod 3 and can slide relative to the push rod 3 (sliding in the left and right directions in the figure). One end of the opening and closing driving rod 4 is connected to the pliers head assembly 1, and the opening and closing driving rod 4 is configured to: drive the pliers head assembly 1 to open and close under the drive of the second force parallel to the length direction of the opening and closing driving rod 4.

[0041] The control mechanism 5 includes an opening and closing trigger 501 and a gear structure, wherein the gear structure is connected to one end of the opening and closing trigger 501 , and the other end of the opening and closing drive rod 4 is connected to the gear structure, wherein the gear structure is driven to rotate by pressing the opening and closing trigger 501 to apply a second force to the opening and closing drive rod 4 .

[0042] Due to the insufficient rigidity of the traditional forceps head opening and closing control, the maximum positive pressure that can be provided to the forceps head is about 10N. After adopting the gear structure provided in the embodiment of the present invention to control the opening and closing of the forceps head, the maximum positive pressure that can be provided to the forceps head is greater than 60N, which greatly improves the positive pressure of the forceps head. High positive pressure is beneficial to improving the effect of laparoscopic surgical instruments. For example, in the scenario where the forceps head assembly 1 is a needle holding forceps, it can tightly clamp the suture needle to prevent the suture needle from loosening or falling due to insufficient positive pressure of the forceps head assembly 1 during the suturing process, thereby affecting the suturing effect.

[0043] Further, see Figure 2 In an embodiment of the present invention, the control mechanism 5 further includes: a handle housing 502 , a first support shaft 503 and a second support shaft 504 , and the first support shaft 503 and the second support shaft 504 are fixed on the handle housing 502 .

[0044] The gear structure includes: a driving gear 505 and a driven gear 506 . The driving gear 505 is rotatably connected to the first support shaft 503 , and the driven gear 506 is rotatably connected to the second support shaft 504 . The driving gear 505 and the driven gear 506 are meshed.

[0045] When the opening and closing trigger 501 is pressed, the opening and closing trigger 501 rotates around the first support shaft 503, driving the active gear 505 to rotate synchronously. Under the meshing action of the active gear 505 and the driven gear 506, the active gear 505 drives the driven gear 506 to rotate around the second support shaft 504, applying a second force to the opening and closing drive rod 4, thereby driving the opening and closing drive rod 4 to slide, thereby realizing the opening and closing of the pliers head assembly 1 (R1).

[0046] Figure 3 The exploded structure diagram of a control mechanism according to an embodiment of the present invention is schematically shown.

[0047] like Figure 2 and Figure 3 As shown, in the embodiment of the present invention, the control mechanism 5 further includes a rigid spring sheet 508. One end of the rigid spring sheet 508 is fixedly connected to one end of the opening and closing trigger 501, and the other end of the rigid spring sheet 508 is fixedly connected to the handle housing 502. The rigid spring sheet 508 is configured to provide a restoring force for the opening and closing trigger 501. For example, when the opening and closing trigger 501 is pressed, the rigid spring sheet 508 provides a restoring force opposite to the pressing direction.

[0048] Laparoscopic surgical instruments are manually controlled, which is different from the precision of machine control, and the pressing force is difficult to control. Since the rebound of the opening and closing trigger in the traditional clamp head opening and closing control method uses a spring, and the rigidity of the spring is relatively small, when pressing the opening and closing trigger 501, the spring provides a relatively small restoring force for the opening and closing trigger 501, while the rigid spring sheet 508 provides a relatively large restoring force for the opening and closing trigger 501. Therefore, in the two cases of spring recovery and rigid spring sheet recovery, the same force is applied to the opening and closing trigger 501. The opening and closing trigger corresponding to the spring recovery is pressed more, that is, the opening and closing trigger corresponding to the spring recovery under a unit force has a larger step length, and the corresponding force control precision is lower; the opening and closing trigger corresponding to the rigid spring sheet is pressed less, that is, the opening and closing trigger corresponding to the spring recovery under a unit force has a smaller step length, and the corresponding force control precision is higher.

[0049] Furthermore, the gear structure includes metal material, that is, the driving gear and the driven gear can be made of metal material. It should be understood that the gear structure of the embodiment of the present invention can also be made of other materials as long as these materials can ensure sufficient mechanical strength, which is not limited by the present invention.

[0050] Figure 4 The exploded structure diagram of the control mechanism in the first direction according to another embodiment of the present invention is schematically shown. Figure 5 The exploded structure diagram of the control mechanism in the second direction according to another embodiment of the present invention is schematically shown.

[0051] like Figure 4 and5 As shown, the control mechanism 5 also includes:

[0052] The slider guide rail 508 is fixed on the handle housing 502 .

[0053] The deflection dial wheel 509 and the cam 510 are fixedly connected and coaxial with each other. The cam 510 is provided with a curved groove 511, which is an Archimedean line.

[0054] The deflection seat 512 has a sliding shaft 513 at the bottom. The deflection seat 512 is slidably installed in the slider guide rail 508, and the sliding shaft 513 is slidably installed in the curved groove 511. The other end of the push rod 3 is installed in the deflection seat 512.

[0055] Among them, by rotating the swing wheel 509, the cam 510 is driven to rotate, and the sliding shaft 513 moves relative to the curved groove 511, driving the deflection seat 512 to slide relative to the slider guide 508 to drive the push rod 3 to move in a direction parallel to the length direction of the push rod 3, that is, driving the push rod 3 to move in the instrument rod 2 to achieve the deflection (R2) of the forceps head assembly 1.

[0056] Further, see Figure 4 and 5 , the control mechanism 5 also includes:

[0057] The self-rotating dial wheel 514 is mounted on the instrument rod 2 and connected to the deflection seat 512. The self-rotating dial wheel 514 is configured to drive the instrument rod 2 to rotate (R3) by rotating the self-rotating dial wheel 514 to drive the forceps head assembly 1 to rotate.

[0058] Furthermore, in the embodiment of the present invention, one end of the opening and closing driving rod 4 connected to the clamp head assembly 1 is a flexible shaft. Using a flexible shaft instead of a tungsten wire rope can better realize the deflection of the clamp head assembly 1 on the one hand, and can transmit force in both directions on the other hand, thereby increasing the separation function.

[0059] Further, in the embodiment of the present invention, the instrument rod 2 and the push rod 3 are hollow push rods, and the push rod 3, the instrument rod 2, and the opening and closing driving rod 4 can be coaxially matched. The diameter of the instrument rod 2 is less than or equal to 5 mm.

[0060] Figure 6 The structure of a clamp head assembly according to an embodiment of the present invention is schematically shown.

[0061] like Figure 6 As shown, the pliers head assembly 1 may include: a first pliers piece 101 , a second pliers piece 102 , a clamp pin 103 , a slide groove structure 104 , an opening and closing sliding pin 105 , a connecting rod mechanism 108 and a tower spring 109 .

[0062] The first pliers 101 and the second pliers 102 are hinged and fixed to one end of the slide groove structure 104 through the clamp pin 103. There are two connecting rod mechanisms 108, one end of the two connecting rod mechanisms 108 is respectively connected to the first pliers 101 and the second pliers 102, and the other end is connected to the opening and closing sliding pin 105, and the opening and closing sliding pin 105 is slidably set in the slide groove structure 104. The tower spring 109 is set between the opening and closing sliding pin 15 and the slide groove structure 104, one end can be fixed on the slide groove structure 104, and the other end is fixed on the opening and closing sliding pin 105, and the slide groove structure 104 is connected to the instrument rod 2 and the push rod 3. Among them, when the push rod 3 is driven by a thrust or a pulling force parallel to the central axis direction of the push rod 3, the slide groove structure 104 rotates around the instrument rod 2 and the push rod 3.

[0063] Further, the connecting rod mechanism 108 may include: two cylindrical pins 106 and two connecting pieces 107, one end of each connecting piece 107 is integrated with a cylindrical pin 106, and one end of the connecting piece 107 is rotatably connected to the first pliers 101 and the second pliers 102 through the cylindrical pin 106. Driven by the connecting piece 107, the first pliers 101 and the second pliers 102 rotate around the cylindrical pin 106 to control the opening and closing movement of the first pliers 101 and the second pliers 102.

[0064] It should be noted that the first forceps blade 101 and the second forceps blade 102 can be in the form of scissor blades, grasping forceps blades, clamping forceps blades, separating forceps blades, etc.

[0065] Figure 7 The installation structure diagram of the slide groove structure and the push rod according to an embodiment of the present invention is schematically shown.

[0066] like Figure 7 As shown, the pliers head assembly 1 also includes: a curved connecting rod 100, and the two ends of the curved connecting rod 100 are respectively rotatably connected to the slide groove structure 104 and the push rod 3. Generally, the number of curved connecting rods 10 is 2, and one curved connecting rod 100 is provided at the top and bottom, so that the slide groove structure 104 and the push rod 3 can be rotated better and the stability can be ensured. The pliers head assembly 1 can be rotatably connected to the instrument rod 2 through the rotating pin 120.

[0067] For example, Figure 7 In the direction shown, when the push rod 3 is subjected to a rightward pulling force, the slide groove structure 104 is driven to swing counterclockwise around the instrument rod 2, thereby driving the first forceps 101 and the second forceps 102 to deflect counterclockwise. When the push rod 3 is subjected to a leftward thrust, the slide groove structure 104 is driven to swing clockwise around the instrument rod 2, thereby driving the first forceps 101 and the second forceps 102 to deflect clockwise.

[0068] Figure 8 The structure of the clamp head assembly after deflection according to an embodiment of the present invention is schematically shown.

[0069] For example, Figure 8 In the direction shown, when the opening and closing trigger 501 is not pulled, there is an angle between the two connecting pieces 107, which is in a bent state, and the opening and closing sliding pin 105 is located at the leftmost end of the slide groove in the slide groove structure 104. At this time, the first pliers 101 and the second pliers 102 are in an open state; when the opening and closing trigger 501 is pulled to drive the opening and closing sliding pin 105 to move to the right, the opening and closing sliding pin 15 drives the two connecting pieces 107 to move, so that the angle between the two connecting pieces 107 and the first pliers 101 and the second pliers 102 It gradually increases and tends to a straight line state, thereby driving the first pliers 101 and the second pliers 102 to a closed state; when the opening and closing trigger 501 is released, the opening and closing sliding pin 105 moves to the left under the restoring force of the tower spring 109, and the opening and closing sliding pin 105 does not apply a pulling force to the two connecting pieces 107, so that the angle between the two connecting pieces 107 and the first pliers 101 and the second pliers 102 gradually decreases and tends to a bent state, thereby driving the first pliers 101 and the second pliers 102 to an open state.

[0070] The above is only a specific embodiment of the present invention, but the protection scope of this application is not limited thereto. Any changes or substitutions made within the spirit and principle of the present invention should be included in the protection scope of this application. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. A laparoscopic surgical instrument based on gear control, characterized in that: include: A clamp head assembly (1), used for clamping a target; An instrument rod (2), wherein the clamp head assembly (1) is rotatably connected to one end of the instrument rod (2); A push rod (3) is built into the instrument rod (2) and can slide relative to the instrument rod (2), and one end of the push rod (3) is rotatably connected to the clamp head assembly (1); the push rod (3) is configured to: drive the clamp head assembly (1) to swing around the head end of the instrument rod (2) under the drive of a first force parallel to the length direction of the push rod (3); An opening and closing driving rod (4) is built into the push rod (3) and can slide relative to the push rod (3). One end of the opening and closing driving rod (4) is connected to the clamp head assembly (1). The opening and closing driving rod (4) is configured to drive the clamp head assembly (1) to open and close under the drive of a second force parallel to the length direction of the opening and closing driving rod (4); A control mechanism (5), comprising an opening and closing trigger (501) and a gear structure, wherein the gear structure is connected to one end of the opening and closing trigger (501), and the other end of the opening and closing drive rod (4) is connected to the gear structure, wherein the gear structure is driven to rotate by pressing the opening and closing trigger (501) to apply the second action force to the opening and closing drive rod (4); The control mechanism (5) further comprises: A handle housing (502), a first support shaft (503) and a second support shaft (504), wherein the first support shaft (503) and the second support shaft (504) are fixed to the handle housing (502); a rigid spring sheet, one end of which abuts against one end of the opening and closing trigger (501), and the other end of which is fixedly connected to the handle housing (502), and the rigid spring sheet is configured to provide a restoring force for the opening and closing trigger (501); One end of the opening and closing driving rod (4) connected to the clamp head assembly (1) is a flexible shaft; The control mechanism (5) further comprises: A slider guide rail (508) fixed on the handle housing (502); A deflection dial wheel (509) and a cam (510), wherein the deflection dial wheel (509) and the cam (510) are fixedly connected and coaxial, and a curved groove (511) is provided on the cam (510); A deflection seat (512) is provided with a sliding shaft (513) below, the deflection seat (512) is slidably mounted in the slider guide rail (508), the sliding shaft (513) is slidably mounted in the curved groove (511), and the other end of the push rod (3) is mounted in the deflection seat (512); The cam (510) is driven to rotate by rotating the deflection dial wheel (509), and the sliding shaft (513) moves relative to the curved groove (511), thereby driving the deflection seat (512) to slide relative to the slider guide rail (508), thereby driving the push rod (3) to move in a direction parallel to the length direction of the push rod (3); The curved groove (511) is an Archimedean line; The pliers head assembly (1) comprises: a bent connecting rod (100) and a slide groove structure (104), and two ends of the bent connecting rod (100) are rotatably connected to the slide groove structure (104) and the push rod (3) respectively; The pliers head assembly (1) further comprises: a first pliers piece (101), a second pliers piece (102), a clamp pin (103), an opening and closing sliding pin (105), a connecting rod mechanism (108) and a tower spring (109); The first clamp piece (101) and the second clamp piece (102) are hingedly connected via the clamp pin (103) and fixed at one end of the slide groove structure (104); The number of the connecting rod mechanisms (108) is two, one end of the two connecting rod mechanisms (108) is rotatably connected to the first pliers (101) and the second pliers (102) respectively, and the other end is rotatably connected to the opening and closing sliding pin (105), and the opening and closing sliding pin (105) is slidably arranged on the slide groove structure (104); the tower spring (109) is sleeved between the opening and closing sliding pin (105) and the slide groove structure (104), one end of the tower spring (109) is fixed on the slide groove structure (104), and the other end is fixed on the opening and closing sliding pin (105), and the slide groove structure (104) is rotatably connected to the instrument rod (2) and the push rod (3); The number of the bent connecting rods (100) is 2, one each provided at the top and the bottom; The forceps head assembly (1) is rotatably connected to the instrument rod (2) via a rotating pin (120).

2. The laparoscopic surgical instrument based on gear control according to claim 1, characterized in that: The gear structure comprises a driving gear (505) and a driven gear (506), wherein the driving gear (505) is rotatably connected to the first support shaft (503), and the driven gear (506) is rotatably connected to the second support shaft (504), and the driving gear (505) is meshed with the driven gear (506); When the opening and closing trigger (501) is pressed, the opening and closing trigger (501) rotates around the first support shaft (503), driving the driving gear (505) to rotate synchronously. Under the meshing action, the driving gear (505) drives the driven gear (506) to rotate around the second support shaft (504), applying the second force to the opening and closing drive rod (4).

3. The gear-controlled laparoscopic surgical instrument according to claim 1, characterized in that: The control mechanism (5) further comprises: The self-rotating dial wheel (514) is sleeved on the instrument rod (2), and the self-rotating dial wheel (514) is configured to drive the instrument rod (2) to rotate by rotating the self-rotating dial wheel (514) to drive the forceps head assembly (1) to rotate.

4. The laparoscopic surgical instrument based on gear control according to claim 1, characterized in that: The forceps head assembly (1) comprises grasping forceps, separating forceps, needle holding forceps, scissors or clip applicators.

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