Dual slider jaw mechanism and surgical instrument

Abstract

The application discloses a double-sliding-block type forceps head mechanism and surgical instrument, which comprises a forceps mouth seat, an opening sliding sleeve, a closing sliding block, a first forceps jaw and a second forceps jaw, the forceps jaws are connected with the base disc through rotating connection, and the opening sliding sleeve and the closing sliding block are connected with a pulling rope respectively, so that the opening sliding sleeve and the closing sliding block are driven to move in the forceps mouth seat when the pulling rope moves, and the opening and closing of the forceps jaws are controlled. The application avoids the problems of insufficient opening force of the forceps jaws and incapability of opening tissues of the prior art, and has simple structure and is easy to operate.

Description

Technical Field

[0001] This invention relates to the technical field of medical devices, and more particularly to a double-slider forceps mechanism and surgical instruments. Background Technology

[0002] During minimally invasive surgery, surgeons make 2 to 4 small incisions of 5 to 10 mm on the patient's body surface and insert the necessary surgical instruments into the abdominal cavity through the tiny incisions on the patient's body surface to perform surgical operations such as cutting and clamping the lesion tissues and organs. This operation method allows the surgical instruments to move only within a narrow inverted cone-shaped working space with the incision as the apex. Patent CN102905627A discloses a surgical instrument comprising an instrument shaft having a proximal end and a distal end; a forceps body disposed from the distal end of the instrument shaft; a control handle coupled from the proximal end of the instrument shaft; a distal flexible member for coupling the distal end of the instrument shaft to the forceps body; a proximal flexible member for coupling the proximal end of the instrument shaft to the control handle; an actuation device extending between the distal and proximal flexible members for coupling movement of the proximal flexible member to the distal flexible member to control the positioning of the forceps body; and a locking mechanism for fixing the position of the forceps body at a selected location. The locking mechanism includes a ball-and-socket device disposed around the proximal flexible member; and a locking member for locking the ball-and-socket device, the locking member having a locked and unlocked state.

[0003] Due to the presence of movable joints in the distal and proximal flexible components, the actuation cable controlling the opening and closing of the jaws must have a corresponding flexible structure. This allows the actuation cable to transmit tensile force, but its ability to transmit thrust is relatively weak due to its flexible structure. Consequently, the jaws of flexible instruments can only clamp tissue and cannot open it. For example, CN102905627A cannot achieve the function of dissecting forceps, scissors, and other instruments that require a certain opening force. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a slider-type jaw mechanism that controls the opening and closing of the jaws through trigger movement and the cooperation between the slider and the pull rope, making it easy to control, simple in structure, and highly flexible.

[0005] To achieve the above objectives, the present invention provides a double-slider type pliers mechanism, including a jaw seat, an opening slide sleeve, a closing slide block, a first jaw, and a second jaw. The jaw seat is connected to the distal end of a shaft tube via a distal serpentine joint. The jaw seat has a channel penetrating the proximal and distal ends. The opening slide sleeve is installed in the channel and can slide along the proximal direction. The opening slide sleeve has a slide rail penetrating the proximal and distal ends. The closing slide block is fitted into the slide rail and can slide along the proximal and distal directions of the slide rail. The distal ends of both the opening slide sleeve and the closing slide block have a centrally located strip-shaped hole extending along the proximal and distal directions. The distal end of the closing slide block is divided into a left tongue and a right tongue by its strip-shaped hole. The distal end of the opening slide sleeve is divided into an upper tongue and a lower tongue that are not connected vertically by the slide rail. The proximal end of the opening slide sleeve forms a ring structure at the proximal end of the closing slide block. The distal end of the jaw seat... A pin is provided, which is slidably connected to a strip hole in the proximal direction and perpendicular to the opening end face of the strip hole. The proximal ends of the first and second jaws are rotatably connected to the pin, and the distal end of the closing slider is located between the proximal ends of the first and second jaws. The right tongue is configured to drive the proximal ends of the first and second jaws to rotate in opposite directions around the pin axis when sliding in the proximal direction. The upper and lower tongues of the opening sleeve are located on opposite sides of the proximal ends of the first and second jaws. The upper and lower tongues are configured to drive the proximal ends of the first and second jaws to rotate in opposite directions around the pin axis when sliding in the proximal direction. Two pull ropes are located inside the shaft tube. One pull rope has one end connected to the opening sleeve, and the other pull rope has one end connected to the closing slider.

[0006] Preferably, the distal end of the closed slider is constructed as a flat ear plate, and the proximal ends of the first and second jaws are respectively provided with base plates. The ear plate extends between the opposite sides of the two base plates, and the strip hole divides the ear plate into a left tongue and a right tongue. The front and back sides of the ear plate facing the two base plates are respectively provided with a first pivot structure that is interlocked with the base plates. The two first pivot structures are symmetrically arranged on the left tongue and the right tongue relative to the strip hole.

[0007] The upper and lower tongues of the opening sliding sleeve are respectively located on opposite sides of the two base plates. The upper and lower tongues are respectively provided with a second pivot structure that is embedded in each other on the base plate directly opposite them. The two second pivot structures are symmetrical with respect to the strip hole, and the first pivot structure is symmetrical with respect to the strip hole.

[0008] Preferably, the sides of the first and second jaws facing each other are perpendicular to the base plate.

[0009] Preferably, the ear plate is provided with a convex frustum I that is interlocked with the base plate on the front and back sides of the two base plates, and the two base plates are provided with notches I that can be interlocked with the convex frustum I. The convex frustum I and the notches I form a first pivot structure.

[0010] The two base plates are respectively provided with convex frustums facing the upper tongue and the lower tongue at positions symmetrical to the center of the notch one. The upper tongue and the lower tongue are respectively provided with notches two that can be fitted into the convex frustums two.

[0011] Preferably, the lengths of the upper and lower tongues along the proximal and distal directions are greater than the diameter of the base plate.

[0012] Preferably, the thickness of the ear plate is less than the thickness of the closed slider, and the length of the ear plate in the proximal direction is greater than the diameter of the base plate.

[0013] Preferably, a through hole is provided in the center of the base plate, and the cross-section of the through hole is circular.

[0014] Preferably, the proximal ends of the opening slide and the closing slider are provided with thread holes, and the opening slide and the closing slider are respectively connected to the pulling rope and the pulling rope through the thread holes.

[0015] A surgical instrument includes: the aforementioned dual-slider forceps mechanism and: a handle including a pistol grip and an actuator rod. The base of the grip is connected to the proximal end of the shaft tube, and the root of the grip is away from the proximal end of the shaft tube. A winding wheel and a spring are respectively provided in the base and root of the grip. The upper part of the actuator rod is pivotally attached between the winding wheel and the spring in the base of the grip. One end of the spring is connected to the root of the grip, and the other end faces the base of the grip and is connected to the upper part of the actuator rod. The winding wheel is parallel to the plane of rotation of the actuator rod and is arranged in the base of the grip. The other end of the pulling rope passes through the proximal end of the shaft tube and the base of the grip, passes around the winding wheel, and is connected to a first side of the actuator rod near the shaft tube and a second side near the spring. When the spring deflects the second side of the actuator rod to the root of the grip, the first side of the actuator rod approaches the winding wheel, and the second side of the actuator rod moves away from the winding wheel.

[0016] Four actuation ropes are provided. The actuation ropes extend in the distal serpentine joint and are evenly distributed around the axis of the distal serpentine joint. One end of the actuation rope is connected to the distal end of the distal serpentine joint, and the other end is connected to a traction mechanism in the handle to control the positioning of the jaw seat.

[0017] Furthermore, the traction mechanism is replaced by a proximal serpentine joint, which is used to connect the proximal end of the shaft tube to the handle;

[0018] A locking mechanism is used to fix the jaw seat in a selected position;

[0019] The locking mechanism includes a ball-and-socket assembly arranged around a proximal serpentine joint, and a locking member for locking the ball-and-socket assembly, the locking member having a locked state and an unlocked state.

[0020] The ball-and-socket device includes a compression ring supported from the handle, having an outer surface for supporting the locking member around the locking member, and an inner surface defining a socket that is at least partially spherical.

[0021] The ball-and-socket device further includes: a hollow ball component having an internal cavity and an external surface that is at least partially spherical, the at least partially spherical external surface of the hollow ball component engaging with the at least partially spherical socket;

[0022] The actuation cord extends between the distal serpentine joint and the proximal serpentine joint, and is evenly distributed around the axis of the distal serpentine joint and the proximal serpentine joint. The actuation cord has one end connected to the distal end of the distal serpentine joint and the other end constrained as it passes the proximal end of the proximal serpentine joint, for connecting the movement of the proximal serpentine joint to the distal serpentine joint in order to control the positioning of the jaw seat.

[0023] This invention utilizes the movement of a slider within the jaw holder, the rotational connection between the slider and the jaws, and the cooperation between the slider and the pull rope to enable the opening and closing of the jaws to be controlled by trigger movement. Furthermore, the angle is controllable, the structure is simple, and it is easy to control. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the proximal end of the device;

[0025] Figure 2 This is a schematic diagram of the entire instrument.

[0026] Figure 3 This is a schematic diagram of the overall structure of the dual-slider type clamping head mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the jaw holder of the dual-slider jaw mechanism of the present invention;

[0028] Figure 5 This is a cross-sectional view of the dual-slider type clamping head mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of a closed slider.

[0030] Figure 7 A schematic diagram of the opening of the sliding sleeve;

[0031] Figure 8 This is a schematic diagram of the opening of the dual-slider type clamping head mechanism of the present invention;

[0032] Figure 9 This is a schematic diagram of the closed dual-slider type clamping head mechanism of the present invention;

[0033] Figure 10This is a schematic diagram of the first jaw of the present invention;

[0034] Figure 11 This is a schematic diagram of the second jaw of the present invention;

[0035] Figure 12 This is a proximal cross-sectional view of the surgical instrument of the present invention;

[0036] Figure 13 for Figure 12 Cross-sectional view of the locking component in the middle;

[0037] Figure 14 for Figure 12 Exploded view of the proximal serpentine joint. Detailed implementation method:

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the described embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure. It should be noted that in this invention, the front cone refers to the small end face of the bevel gear; the proximal end or proximal side refers to the side of the needle-holding sewing machine closer to the person when held; and the distal end or distal side refers to the side of the needle-holding sewing machine farther from the person when held.

[0039] As used herein, relative terms such as “below,” “down,” “above,” and “up” can be used to describe the relationship between one element and another, as illustrated in the set of figures. Such relative terms are intended to encompass different orientations of the illustrated technique beyond those described in the set of figures. For example, if the apparatus in the set of figures is flipped over, the various elements described as being “below” other elements would be oriented “up” to the other elements. Similarly, if one of the apparatuses in the figures is flipped over, the various elements described as being “below” or “under” other elements would be oriented “up” to the other elements. Thus, the various example terms “below” and “down” can encompass both above and below orientations. As used herein, relative terms such as “left” and “right” can be used to describe the left and right sides of the central axis of the first roller relative to the vertical direction.

[0040] like Figures 1 to 7As shown, a double-slider type pliers mechanism includes a jaw seat 11, an opening slide sleeve 19, a closing slide block 20, a first jaw 4, and a second jaw 5. The jaw seat 11 is connected to the distal end of a shaft tube 27 via a distal serpentine joint 26. The jaw seat 11 has a channel 14 extending through the proximal and distal ends. The opening slide sleeve 19 is installed in the channel 14 and can slide in the channel 14 in the proximal and distal directions. The opening slide sleeve 19 has a slide rail 21 extending through the proximal and distal ends. The closing slide block 20 is fitted into the slide rail 21 and can slide along the slide rail 21 in the proximal and distal directions. The distal end of the opening slide sleeve 19 is divided by the slide rail 21 into upper and lower unconnected tongues 19. a and lower tongue 19b, the proximal end of the opening slide sleeve 19 forms a ring structure at the proximal end of the closing slider 20, the distal end of the jaw seat 11 is provided with a circular hole 16 through which the pin 8 can pass, the distal end of the opening slide sleeve 19 is provided with a strip hole 12a extending in the proximal direction, the distal end of the closing slider 20 is provided with a strip hole 12b extending in the proximal direction, the front end of the closing slider 20 is cut into a flat and protruding ear plate 6, the strip hole 12b divides the ear plate 6 into a left tongue 6a and a right tongue 6b, the distal end of the jaw seat 11 is provided with a pin 8, the pin 8 is slidably connected to the strip holes 12a and 12b in the proximal direction, and vertically Perpendicular to the opening end faces of the strip holes 12a and 12b, the proximal ends of the first jaw 4 and the second jaw 5 are respectively provided with base plates 7. The sides of the first jaw 4 and the second jaw 5 facing each other are perpendicular to the base plates 7. A through hole 17 is provided in the center of each of the two base plates 7. The ear plate 6 extends between the opposite sides of the two base plates 7. The upper tongue 19a of the openable sleeve 19 is located on the side of the base plate 7 of the first jaw 4 facing away from the base plate 7 of the second jaw 5. The lower tongue 19b of the openable sleeve 19 is located on the side of the base plate 7 of the second jaw 5 facing away from the base plate 7 of the first jaw 4. The pin 8 passes through the circular hole 16, the strip holes 12a and 12b, and the two base plates 7. The through hole 17 of the base plate 7 rotatably connects the jaw seat 11 to the two base plates 7 and the ear plate 6; the left tongue 6a and the right tongue 6b are configured to drive the base plate 7 of the first jaw 4 and the second jaw 5 to rotate in opposite directions around the pin shaft 8 when sliding in the proximal direction; the upper tongue 19a and the lower tongue 19b are configured to drive the proximal ends of the first jaw 4 and the second jaw 5 to rotate in opposite directions around the pin shaft 8 when sliding in the proximal direction; two pull ropes 2a and 2b are provided inside the shaft tube 27, one pull rope 2a has one end connected to the closed slider 20, and the other pull rope 2b has one end connected to the proximal end of the open sliding sleeve 19.

[0041] Furthermore, such as Figures 6-7The left tongue 6a has a first pivot structure on the side facing the first jaw 4 that is only interlocked with the base plate 7 of the first jaw 4. The right tongue 6b has a first pivot structure on the side facing the second jaw 5 that is only interlocked with the base plate 7 of the second jaw 5. The two first pivot structures are symmetrical with respect to the strip hole 12a and are located on the side opposite to each other of the left tongue 6a and the right tongue 6b. The upper tongue 19a and the lower tongue 19b of the open sliding sleeve 19 are respectively located on the side opposite to each other of the two base plates 7. The upper tongue 19a and the lower tongue 19b are respectively provided with a second pivot structure interlocked with the base plate 7 directly opposite to them. The two second pivot structures are symmetrical with respect to the strip hole 12b, and the first pivot structure and the second pivot structure are symmetrical with respect to the strip hole 12a.

[0042] like Figures 6-7 Specifically, the ear plate 6 is provided with a convex frustum 18 on the front and back of the two base plates 7 respectively, which is interlocked with the base plates 7. The two base plates 7 are provided with notches 23 that can be interlocked with the convex frustum 18. The convex frustum 18 and the notches 23 form the first pivot structure. The two base plates 7 are respectively provided with convex frustum 25 facing the upper tongue 19a and the lower tongue 19b at a position symmetrical to the center of the notches 23. The upper tongue 19a and the lower tongue 19b are respectively provided with notches 24 that can be interlocked with the convex frustum 25.

[0043] The lengths of the upper tongue 19a and the lower tongue 19b along the proximal direction are greater than the diameter of the base plate 7, the thickness of the ear plate 6 is less than the thickness of the slider 15, and the length of the ear plate 6 along the proximal direction is greater than the diameter of the base plate 7.

[0044] In one embodiment, a central slit 13 extending in the proximal direction is provided in the center of the closed slider 20. The pull rope 2b is connected to the center of the proximal end of the opening slide sleeve 19, and the pull rope 2b passes through the central slit 13. The proximal and distal lengths of the strip holes 12a and 12b are not greater than the proximal and distal lengths of the central slit 13.

[0045] In the above scheme, such as Figure 9 When the pull rope 2a is pulled, the closing slider 20 moves from the distal end to the proximal end in the jaw seat 11. The distal end of the strip hole 12b in the closing slider 20 slides to approach the pin 8. The ear plate 6 of the closing slider 20 pulls the base plate 7 of the second jaw 5 to rotate counterclockwise around the pin 8 and pulls the base plate 7 of the first jaw 4 to rotate clockwise around the pin 8 through the convex platform 18, so that the first jaw 4 and the second jaw 5 move towards each other to close. At the same time, when the base plate 7 of the first jaw 4 rotates clockwise around the pin 8, it pulls the upper tongue 19a to slide to the distal end through the convex platform 25. When the base plate 7 of the second jaw 5 rotates counterclockwise around the pin 8, it pulls the lower tongue 19b to slide to the distal end through the convex platform 25, so that the proximal end of the strip hole 12a in the opening sleeve 19 slides to approach the pin 8.

[0046] like Figure 8 When the pulling rope 2b is pulled, the opening sleeve 19 moves from the distal end to the proximal end in the jaw seat 11. The distal end of the strip hole 12a in the opening sleeve 19 slides close to the pin 8. The upper tongue 19a of the opening sleeve 19 pulls the base plate 7 of the first jaw 4 to rotate counterclockwise around the pin 8 through the second notch 24. The lower tongue 19b of the opening sleeve 19 pulls the base plate 7 of the second jaw 5 to rotate clockwise around the pin 8 through the second notch 24, causing the first jaw 4 and the second jaw 5 to move and open in opposite directions. At the same time, when the base plate 7 of the first jaw 4 rotates counterclockwise around the pin 8, it pulls the left tongue 6a to slide distally through the first notch 23. When the base plate 7 of the second jaw 5 rotates clockwise around the pin 8, it pulls the right tongue 6b to slide distally through the first notch 23, causing the proximal end of the strip hole 12a in the closing slider 20 to slide close to the pin 8. In this embodiment, the pulling rope 2b pushes the opening sleeve 19 backward by applying tension, causing the first jaw 4 and the second jaw 5 to open. Therefore, the first jaw 4 and the second jaw 5 have a large opening force when they open, which can open the tissue during surgery and realize the function of instruments such as separation forceps and scissors that require a certain opening force. This solves the problem that the opening force of the first jaw 4 and the second jaw 5 is insufficient when the actuation cable is pushed to the distal end.

[0047] like Figure 10 and Figure 11 Furthermore, the cross-section of the through hole 17 is circular.

[0048] Furthermore, as a preferred embodiment, such as Figure 1 The aforementioned dual-slider forceps mechanism is mounted on the handle 3 of a surgical instrument. The handle 3 includes a pistol grip 28, an actuator rod 1, and the base of the grip 28 (i.e., Figure 1 The upper part of the shaft tube 27 is connected to the proximal end of the shaft tube 27, and the root of the handle 28 (i.e., Figure 1 The lower part of the handle 28 is located away from the near end of the shaft tube 27. The base and root of the handle 28 are respectively provided with a winding wheel 29 and a spring 30. The upper part of the actuator rod 1 is pivotally attached between the winding wheel 29 and the spring 30 at the base of the handle 28. One end of the spring 30 is connected to the root of the handle 28, and the other end faces the base of the handle 28 and is connected to the upper part of the actuator rod 1. The winding wheel 29 is parallel to the plane of rotation of the actuator rod 30 and is arranged at the base of the handle. The other ends of the pull ropes 2a and 2b pass through the near end of the shaft tube 27 and the base of the handle 28, and after passing around the winding wheel 29, they are connected to the first side 1a near the shaft tube 27 and the second side 1b near the spring 30 of the actuator rod 1, respectively. When the spring 30 causes the second side 1b of the actuator rod 1 to deflect to the root of the handle 28, the first side 1a of the actuator rod 1 approaches the winding wheel 29, and the second side 1b of the actuator rod 1 moves away from the winding wheel 29.

[0049] Four actuation ropes 31 are arranged around the axis of the distal serpentine joint 26. These ropes extend within the distal serpentine joint 26 and are evenly distributed around its axis. Each rope has one end connected to the distal end of the distal serpentine joint 26 and the other end connected to a traction mechanism within the handle 3 to control the positioning of the jaw seat 11. Further description of the distal serpentine joint 26 can be found in structures similar to CN106923906A and in paragraph 0044 of a similar document CN215534654U.

[0050] When the actuator 1 pivots around the base of the handle 28, the distance between the first side 1a and the second side 1b of the actuator 1 and the winding wheel 29 increases and decreases, so that when the pull rope 2a is pulled, the pull rope 2b is released, and when the pull rope 2b is pulled, the pull rope 2a is released.

[0051] One embodiment of the traction mechanism can be found in the structure of a surgical instrument in CN102905627A, such as... Figure 12 The diagram shows a cross-sectional view of the proximal end of the handle 3. The proximal end of the handle 3 supports a traction mechanism, which is a proximal serpentine joint 32. The proximal end of the proximal serpentine joint 32 is fixed within a rotating handwheel 38, which is installed in the handle 3. The proximal serpentine joint 32 is arranged on the inner circumference of a hollow spherical component 35. The hollow spherical component 35 has an internal cavity, and its proximal portion has a spherical outer surface. The distal end of the rotating handwheel 38 has a ball-and-socket structure that slides in connection with the outer surface of the hollow spherical component 35. A compression ring 34 is fitted onto the outer surface of the hollow spherical component 35. The inner circumference of the compression ring 34 is spherical, forming a socket for the hollow spherical component. Figure 13 The outer surface of the compression ring 34 is annular, supporting the inner surface of the locking member 33. The compression ring 34 is fixedly connected to the handle 3. The hollow ball member 35 can deflect relative to the axis of the compression ring 34 within the compression ring 34. The compression ring 34 and the hollow ball member 35 form a ball-and-socket device. The locking member 33 is used to lock the ball-and-socket device. The locking member 33 has a locked state and an unlocked state. When the locking member 33 locks the ball-and-socket device, it is used to fix the position of the jaw seat 11 in the selected position.

[0052] By controlling the movement of the hollow ball component 35, the movement of the shaft tube 27 is driven. When the hollow ball component 35 moves, the actuation rope 31 on one side is pulled, causing the distal serpentine joint 26 to deflect in the corresponding direction. Figure 14 The hollow ball component 35 and the rotating handwheel 38 are connected in a chain-like manner by a universal joint hinge 37 or other similar structure at their proximal end serpentine joint 32.

[0053] The above description illustrates a preferred embodiment of the present invention. This structure is also applicable to monopolar and bipolar electrosurgical instruments and should not be construed as limiting the scope of protection of the claims. Any modifications, equivalent substitutions, and improvements made without departing from the principles and spirit of the present invention should be considered within the scope of protection of the claims.

Claims

1. A double-slider type jaw mechanism, comprising a jaw seat (11), an opening slide sleeve (19), a closing slide block (20), a first jaw (4), and a second jaw (5), wherein the jaw seat (11) is connected to the distal end of a shaft tube (27) via a distal serpentine joint (26), characterized in that, The jaw seat (11) is provided with a channel (14) extending through the proximal and distal ends. The opening slide sleeve (19) is installed in the channel (14) and can slide along the proximal direction. The opening slide sleeve (19) has a slide rail (21) extending through the proximal and distal ends. The closing slider (20) is fitted inside the slide rail (21) and can slide along the proximal direction of the slide rail (21). The distal ends of the opening slide sleeve (19) and the closing slider (20) are both provided with a strip-shaped hole (12a, 12b) extending along the proximal direction. The strip-shaped hole includes a first strip-shaped hole (12a). The distal end of the closed slider (20) is divided into a left tongue (6a) and a right tongue (6b) by the first strip hole (12a), and the distal end of the open sleeve (19) is divided into an upper tongue (19a) and a lower tongue (19b) by the slide rail (21). The proximal end of the open sleeve (19) forms a ring structure at the proximal end of the closed slider (20). The distal end of the jaw seat (11) is provided with a pin (8). The pin (8) is slidably connected to the strip holes (12a, 12b) in the proximal direction and perpendicular to the strip holes (12a, 12b). The open end faces of 2a, 12b) are such that the proximal ends of the first jaw (4) and the second jaw (5) are rotatably connected to the pin (8), and the distal end of the closing slider (20) is located between the proximal ends of the first jaw (4) and the second jaw (5). The left tongue (6a) and the right tongue (6b) are configured to drive the proximal ends of the first jaw (4) and the second jaw (5) to rotate in opposite directions around the pin (8) when sliding in the proximal-distal direction. The upper tongue (19a) and the lower tongue (19b) of the opening sleeve (19) are located between the first jaw (4) and the second jaw (5). The proximal ends of the two jaws (5) are opposite to each other. The upper tongue (19a) and lower tongue (19b) are configured to drive the proximal ends of the first jaw (4) and the second jaw (5) to rotate in opposite directions around the pin (8) when sliding in the proximal-farward direction. Two pull ropes (2a, 2b) are provided inside the shaft tube. The two pull ropes include a first pull rope (2a) and a second pull rope (2b). One end of the second pull rope (2b) is connected to the opening slide sleeve (19), and one end of the first pull rope (2a) is connected to the closing slider (20). The distal end of the closed slider (20) is constructed as a flat ear plate (6). The proximal ends of the first jaw (4) and the second jaw (5) are respectively provided with base plates (7). The ear plate (6) extends between the opposite sides of the two base plates (7). The first strip hole (12a) divides the ear plate (6) into a left tongue (6a) and a right tongue (6b). The ear plate (6) is provided with a first pivot structure that is interlocked with the base plates (7) on the front and back sides of the two base plates (7). The two first pivot structures are symmetrically arranged on the left tongue (6a) and the right tongue (6b) relative to the first strip hole (12a). The upper tongue (19a) and lower tongue (19b) of the opening sliding sleeve (19) are respectively located on opposite sides of the two base plates (7). The upper tongue (19a) and lower tongue (19b) are respectively provided with a second pivot structure that is embedded in each other on the base plate (7) directly opposite them. The two second pivot structures are symmetrical with respect to the second strip hole (12b), and the first pivot structure and the second pivot structure are symmetrical with respect to the first strip hole (12a). The ear plate (6) is provided with a convex frustum (18) that is interlocked with the base plate (7) on the front and back sides of the two base plates (7), and the two base plates (7) are provided with a notch (23) that can be interlocked with the convex frustum (18). The convex frustum (18) and the notch (23) form the first pivot structure. The two base plates (7) are respectively provided with convex frustums (25) facing the upper tongue (19a) and lower tongue (19b) at positions symmetrical to the center of the notch (23). The upper tongue (19a) and lower tongue (19b) are respectively provided with notches (24) that can fit into the convex frustums (25).

2. The double-slider type clamping head mechanism according to claim 1, characterized in that, The sides of the first jaw (4) and the second jaw (5) facing each other are perpendicular to the base plate (7).

3. The double-slider type clamping head mechanism according to claim 1, characterized in that, The thickness of the ear plate (6) is less than the thickness of the closed slider (20), and the length of the ear plate (6) in the near-far direction is greater than the diameter of the base plate (7).

4. The double-slider type clamping head mechanism according to claim 1, characterized in that, A through hole (17) is provided in the center of the base plate (7), and the cross-section of the through hole (17) is circular.

5. A double-slider type clamping head mechanism according to claim 1, characterized in that, The lengths of the upper tongue (19a) and lower tongue (19b) along the proximal direction are greater than the diameter of the base plate (7).

6. A double-slider type clamping head mechanism according to claim 1, wherein the proximal ends of the opening slide (19) and the closing slide (20) are provided with thread holes (22), and the opening slide (19) and the closing slide (20) are respectively connected to the second pulling rope (2b) and the first pulling rope (2a) through the thread holes (22).

7. A surgical instrument, characterized in that, include: The double-slider type pliers mechanism and handle according to any one of claims 1 to 6; the handle (3) includes a pistol grip (28) and an actuating rod (1), the base of the grip (28) is connected to the proximal end of the shaft tube (27), the root of the grip (28) is away from the proximal end of the shaft tube (27), the base and root of the grip (28) are respectively provided with a winding wheel (29) and a spring (30), the upper part of the actuating rod (1) is pivotally attached between the winding wheel (29) and the spring (30) at the base of the grip (28), one end of the spring (30) is connected to the root of the grip (28), and the other end faces the base of the grip (28) and is connected to the upper part of the actuating rod (1), the winding wheel is connected to the root of the grip (28), and the other end faces the base of the grip (28) and is connected to the upper part of the actuating rod (1), the winding wheel is connected to the root of the grip (28), and the spring (30) ... root of the grip (28), and the spring (30) is connected to the upper part of the actuating rod (1), the winding wheel is connected to the root of the grip (28), and the spring (30) is connected to the root of the grip (28), and the spring (30) is connected to the upper part of the actuating rod (1), the winding wheel is connected to the root of the grip (28), and the spring (30) is The wheel (29) is parallel to the rotation plane of the actuator (1) and is arranged at the base of the grip. The other end of the pull rope (2a, 2b) passes through the near end of the shaft tube (27) and the base of the grip (28), and after passing around the winding wheel (29), it is connected to the first side (1a) of the actuator (1) near the shaft tube (27) and the second side (1b) near the spring (30). When the spring (30) causes the second side (1b) of the actuator (1) to deflect to the root of the grip (28), the first side (1a) of the actuator (1) approaches the winding wheel (29), and the second side (1b) of the actuator (1) moves away from the winding wheel (29). Four actuation ropes (31) are provided. The actuation ropes (31) extend in the distal serpentine joint (26) and are evenly distributed around the axis of the distal serpentine joint (26). One end of the actuation rope (31) is connected to the distal end of the distal serpentine joint (26), and the other end is connected to the traction mechanism in the handle (3) to control the positioning of the jaw seat (11).

8. A surgical instrument according to claim 7, characterized in that, The traction mechanism is replaced by a proximal serpentine joint (32), which is used to connect the proximal end of the shaft tube (27) to the handle (3); A locking mechanism is used to fix the jaw seat (11) in a selected position; The locking mechanism includes a ball-and-socket device arranged around the proximal serpentine joint (32), and a locking member (33) for locking the ball-and-socket device, the locking member (33) having a locked state and an unlocked state; The ball-and-socket device includes a compression ring (34) supported from the handle (3), having an outer surface for supporting the locking member (33) around the locking member (33), and an inner surface defining a socket that is at least partially spherical. The ball-and-socket device further includes: a hollow ball component (35) having an internal cavity and an external surface that is at least partially spherical, the external surface of the hollow ball component (35) engaging with the at least partially spherical socket; The actuation rope (31) extends between the distal serpentine joint (26) and the proximal serpentine joint (32) and is evenly distributed around the axis of the distal serpentine joint (26) and the proximal serpentine joint (32). The actuation rope (31) has one end connected to the distal end of the distal serpentine joint (26) and the other end constrained when passing the proximal end of the proximal serpentine joint (32) to connect the movement of the proximal serpentine joint (32) to the distal serpentine joint (26) in order to control the positioning of the jaw seat (11).

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