Multi-degree-of-freedom surgical forceps

Abstract

The present invention provides a multi-degree-of-freedom surgical forceps, which relates to the field of medical devices. The multi-degree-of-freedom surgical forceps includes a forceps head, a forceps body, a handle, and a grip; the handle includes a first pitch mechanism and a first yaw mechanism; the forceps head includes a blade, a second pitch mechanism, and a second yaw mechanism; the grip is connected to the first pitch mechanism, which is connected to the first yaw mechanism; the blade is connected to the second pitch mechanism, which is connected to the second yaw mechanism; the forceps body includes a pitch transmission mechanism and a yaw transmission mechanism, one end of the pitch transmission mechanism is connected to the first pitch mechanism and the other end is connected to the second pitch mechanism, and one end of the yaw transmission mechanism is connected to the first yaw mechanism and the other end is connected to the second yaw mechanism. The multi-degree-of-freedom surgical forceps has high flexibility, can effectively improve the flexibility during use, and effectively improve the applicability of the surgical forceps.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a multi-degree-of-freedom surgical forceps. Background Art

[0002] Surgical forceps are a common medical tool used in surgical procedures. They are an indispensable tool used to clamp, secure, and control tissue, blood vessels, or other objects to facilitate surgical operations. Surgical forceps typically consist of a jaw and a handle. The jaw typically has a toothed structure to increase grip, which helps ensure stability when clamping the object and prevent it from slipping or losing control. The handle is typically designed to be easy to hold and operate, ensuring that the doctor can easily control the movement of the forceps during surgery.

[0003] However, the surgical forceps in the prior art are difficult to operate in a narrow or hard-to-reach surgical area and have the problem of insufficient flexibility.

[0004] Therefore, it is necessary to improve the existing technology to overcome the defects of the existing technology. Summary of the Invention

[0005] In order to overcome the problems existing in the related art, one of the purposes of the present invention is to provide a multi-degree-of-freedom surgical forceps.

[0006] A multi-degree-of-freedom surgical forceps, comprising:

[0007] Pliers head, pliers body, handle, grip;

[0008] The handle includes a first pitch mechanism and a first yaw mechanism;

[0009] The clamp head includes a clamp blade, a second pitch mechanism and a second yaw mechanism;

[0010] The handle is connected to the first pitch mechanism, and the first pitch mechanism is connected to the first yaw mechanism;

[0011] The clamp is connected to the second pitch mechanism, and the second pitch mechanism is connected to the second yaw mechanism;

[0012] The clamp body includes a pitch transmission mechanism and a yaw transmission mechanism, wherein one end of the pitch transmission mechanism is connected to the first pitch mechanism and the other end is connected to the second pitch mechanism; one end of the yaw transmission mechanism is connected to the first yaw mechanism and the other end is connected to the second yaw mechanism.

[0013] Preferably, the first pitch mechanism includes two first gear sets and a first frame, and each of the first gear sets includes a first bevel gear and a second bevel gear;

[0014] The first bevel gear and the second bevel gear each include a large end face, a small end face and a center hole;

[0015] The first bevel gear of each first gear set is meshed with the second bevel gear, the small end faces of the two first bevel gears are arranged opposite to each other, and the small end faces of the two second bevel gears are arranged opposite to each other. The first frame is arranged between the two second bevel gears, and the first frame is hinged to the two second bevel gears. The first frame includes a first center column, and the center holes of the two first bevel gears are sleeved on the first center column.

[0016] The first bevel gear is rotatably connected to the first frame, and the second bevel gear is fixedly connected to the handle.

[0017] Preferably, the first pitch mechanism further includes two first sun gears and a pitch sliding rod, each of the first sun gears includes an end face and a tooth portion, the end face of the first sun gear is rotatably linked to the pitch sliding rod, and the pitch sliding rod is connected to the pitch transmission mechanism;

[0018] A groove is provided on the large end surface of each of the first bevel gears. Internal teeth are provided on the inner wall of the groove. The internal teeth mesh with the teeth of the first sun gear.

[0019] Preferably, the first yaw mechanism includes a yaw sliding rod, a second frame and a second sun gear, one end of the yaw sliding rod is hinged to the first pitch mechanism, and the other end is connected to the yaw transmission mechanism;

[0020] The second frame is provided with a connecting column and a first sliding groove, the connecting column is fixedly connected to the second sun gear, and the second sun gear is provided with teeth;

[0021] The first frame is further provided with a gear ring, the inner side of which is provided with teeth, and the gear ring is meshed with the second sun gear.

[0022] Preferably, the second yaw mechanism further comprises a head shell, the head shell comprising an end surface and a side surface, the side surface of the head shell being provided with a connecting hole, the connecting hole being hingedly connected to the yaw transmission mechanism, the second pitch mechanism and the second yaw mechanism being provided in the head shell, the second pitch mechanism and the second yaw mechanism being rotatably connected to the end surface of the head shell;

[0023] The second pitch mechanism includes two second gear sets, a third frame, two first spur gears and two second spur gears, and each of the second gear sets includes a third bevel gear and a fourth bevel gear;

[0024] The third bevel gear and the fourth bevel gear include a large end face, a small end face and a center hole;

[0025] The third bevel gear of each second gear set is meshed with the fourth bevel gear, the small end faces of the two third bevel gears are arranged opposite to each other, the small end faces of the two fourth bevel gears are arranged opposite to each other, the third frame is arranged between the two fourth bevel gears, and the third frame is hinged to the two fourth bevel gears; the third frame includes a second center column, the center holes of the two third bevel gears are sleeved on the second center column, and the third frame and the two third bevel gears are rotatably connected to the head shell;

[0026] There are two clamp leaves, each of which is fixedly connected to a large end face of the fourth bevel gear, and the two clamp leaves are hinged to each other;

[0027] The second yaw mechanism includes a fourth frame, the fourth frame is provided with a second slide groove and a yaw gear, the yaw transmission mechanism slides in the second slide groove, the third frame is further provided with arcuate teeth, the arcuate teeth are provided with teeth on the arcuate surface, and the arcuate teeth are engaged with the yaw gear;

[0028] Two first spur gears are provided on the fourth frame, the first spur gears are rotatably connected to the fourth frame, the axes of the two first spur gears coincide with the axis of the yaw gear, and the end faces of the first spur gears are rotatably connected to the pitch transmission mechanism;

[0029] The second spur gear is fixed on the large end face of the third bevel gear, the axis of the second spur gear coincides with the axis of the third bevel gear, and the second spur gear is meshed with the first spur gear.

[0030] Preferably, the handle includes two grip blocks, each of the two grip blocks includes a U-shaped block and a D-shaped grip, the U-shaped block is vertically fixedly connected to the D-shaped grip, the two U-shaped blocks are respectively fixedly connected to the large end face of one of the second bevel gears, and the two U-shaped blocks are hinged to each other.

[0031] Preferably, the handle also includes a first handle shell, the first handle shell wraps the first pitch mechanism, the first bevel gear is rotatably connected to the first handle shell, the first sun gear is rotatably connected to the first handle shell, the first yaw mechanism also includes a second handle shell, the first handle shell is rotatably connected to the second handle shell, and the second handle shell wraps the second frame.

[0032] Preferably, the clamp body also includes a column shell and a connecting shell, the column shell wraps the pitch transmission mechanism and the yaw transmission mechanism, the column shell is connected to the first handle shell through the connecting shell, the column shell wraps the fourth frame, and the column shell is rotationally connected to the fourth frame.

[0033] Preferably, the pitch sliding rod includes a protruding column, and the protruding column abuts against the inner wall of the first handle shell.

[0034] Preferably, the pitch transmission mechanism and the yaw mechanism both include a semicircular coupler, the semicircular coupler is capable of rotating around its central axis, the semicircular coupler includes two semicircular pieces, one of the semicircular pieces is provided with a convex tooth, and the other semicircular piece is provided with a groove, the convex tooth meshing with the groove;

[0035] The pitch transmission mechanism further includes a pitch transmission rod, the pitch transmission rod being connected to the first pitch mechanism via the semicircular connector, the pitch transmission rod being connected to one of the semicircular pieces, and the first pitch mechanism being connected to the other semicircular piece;

[0036] The yaw transmission mechanism also includes a yaw transmission rod, one end of which is connected to the first yaw mechanism through the semicircular connector, and the other end is connected to the second yaw mechanism. The yaw transmission rod is connected to one of the semicircular pieces, and the first yaw mechanism is connected to the other semicircular piece.

[0037] The beneficial effects of the present invention are:

[0038] The present invention provides a multi-degree-of-freedom surgical forceps, which includes a forceps head, a forceps body, a handle, and a grip; the handle includes a first pitch mechanism and a first yaw mechanism; the forceps head includes a blade, a second pitch mechanism, and a second yaw mechanism; the grip is connected to the first pitch mechanism, which is connected to the first yaw mechanism; the blade is connected to the second pitch mechanism, which is connected to the second yaw mechanism; the forceps body includes a pitch transmission mechanism and a yaw transmission mechanism, one end of the pitch transmission mechanism is connected to the first pitch mechanism and the other end is connected to the second pitch mechanism, and one end of the yaw transmission mechanism is connected to the first yaw mechanism and the other end is connected to the second yaw mechanism. The first pitch mechanism and the first yaw mechanism are connected to the grip, and the pitch and yaw motions of the grip are transmitted to the second pitch mechanism and the second yaw mechanism at the forceps head through the pitch transmission mechanism and the yaw transmission mechanism, so that the blade can achieve pitch and yaw motion. The multi-degree-of-freedom surgical forceps has high flexibility, can effectively improve the flexibility during use, can be operated in a small or difficult-to-reach surgical area, and effectively improve the applicability of the surgical forceps. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic diagram of the multi-degree-of-freedom surgical forceps provided by the present application;

[0040] Figure 2 This is a schematic diagram of the handle and grip provided by this application;

[0041] Figure 3 It is a three-dimensional view of the handle and grip provided by this application;

[0042] Figure 4 It is a schematic diagram of the clamp head provided by this application;

[0043] Figure 5 It is a three-dimensional view of the clamp head provided by this application;

[0044] Figure 6 It is a schematic diagram of the connection between the pliers body and the handle provided by the present application;

[0045] Figure 7 This is a partial schematic diagram of the clamp head provided by this application;

[0046] Figure 8 This is a partial structural diagram of the clamp head provided by this application;

[0047] Figure 9 This is a partial structural diagram of the connection between the pliers body and the handle provided by the present application;

[0048] Figure 10 It is a side view of the handle provided by the present application;

[0049] Figure 11 This is a usage state diagram of the multi-degree-of-freedom surgical forceps provided by the present application;

[0050] Figure 12 is a schematic diagram of the first rack and the second rack provided by this application;

[0051] Figure 13 This is a schematic diagram of the separation of the pliers body and handle provided in this application.

[0052] Reference numerals:

[0053] 1. Clamp head; 11. Clamp blade; 12. Second pitch mechanism; 121. Second gear set; 1211. Third bevel gear; 1212. Fourth bevel gear; 122. Third frame; 1221. Second center column; 1222. Arc teeth; 123. First spur gear; 124. Second spur gear; 13. Second yaw mechanism; 131. Fourth frame; 1311. Second chute; 1312. Yaw gear; 132. Head shell; 1321. Connecting hole; 2. Clamp body; 21. Pitch transmission mechanism; 211. Pitch transmission rod; 22. Yaw transmission mechanism; 221. Yaw transmission rod; 23. Column shell; 24. Connecting shell; 25. Semi-circular Circular coupler; 251, semicircular piece; 3, handle; 31, first pitch mechanism; 311, first gear set; 3111, first bevel gear; 3112, second bevel gear; 312, first frame; 3121, first center column; 3122, gear ring; 313, first sun gear; 314, pitch sliding rod; 3141, raised column; 32, first yaw mechanism; 321, yaw sliding rod; 322, second frame; 3221, connecting column; 3222, first slide groove; 323, second sun gear; 324, second handle shell; 33, first handle shell; 4, grip; 41, grip block; 411, U-shaped block; 412, D-shaped grip. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0055] Example 1

[0056] like Figures 1-13 As shown, this embodiment provides a multi-degree-of-freedom surgical forceps, which includes a forceps head 1, a forceps body 2, a handle 3, and a grip 4;

[0057] The handle 3 includes a first pitch mechanism 31 and a first yaw mechanism 32;

[0058] The clamp head 1 includes a clamp blade 11, a second pitch mechanism 12 and a second yaw mechanism 13;

[0059] The handle 4 is connected to the first pitch mechanism 31 , and the first pitch mechanism 31 is connected to the first yaw mechanism 32 ;

[0060] The clamp 11 is connected to the second pitch mechanism 12, and the second pitch mechanism 12 is connected to the second yaw mechanism 13;

[0061] The clamp body 2 includes a pitch transmission mechanism 21 and a yaw transmission mechanism 22. One end of the pitch transmission mechanism 21 is connected to the first pitch mechanism 31, and the other end is connected to the second pitch mechanism 12. One end of the yaw transmission mechanism 22 is connected to the first yaw mechanism 32, and the other end is connected to the second yaw mechanism 13.

[0062] The first pitch mechanism 31 and the first yaw mechanism 32 are connected to the handle 4, and transmit the pitch and yaw motions of the handle 4 to the second pitch mechanism 12 and the second yaw mechanism 13 at the forceps head 1 through the pitch transmission mechanism 21 and the yaw transmission mechanism 22, thereby causing the blades 11 to achieve pitch and yaw motions. The multi-degree-of-freedom surgical forceps have high flexibility, effectively improving the degree of flexibility during use, enabling operation in confined or difficult-to-reach surgical areas, and effectively improving the applicability of the surgical forceps.

[0063] Specifically, the pliers head 1, the pliers body 2, the handle 3 and the grip 4 are connected in sequence.

[0064] More specifically, the clamp blade 11 , the second pitch mechanism 12 , the second yaw mechanism 13 , the clamp body 2 , the first yaw mechanism 32 , the first pitch mechanism 31 and the handle 4 are connected in sequence.

[0065] More specifically, when the handle 4 performs pitch motion, the first pitch mechanism 31 moves synchronously, the pitch transmission mechanism 21 transmits the movement of the first pitch mechanism 31 to the second pitch mechanism 12, and the second pitch mechanism 12 drives the clamp leaf 11 to perform corresponding movement, thereby realizing the pitch motion of the clamp leaf 11.

[0066] More specifically, when the handle 4 performs a yaw motion, the first yaw mechanism 32 moves synchronously, the yaw transmission mechanism 22 transmits the movement of the first yaw mechanism 32 to the second yaw mechanism 13, and the second yaw mechanism 13 drives the clamp leaf 11 to perform a corresponding movement, thereby realizing the yaw motion of the clamp leaf 11.

[0067] In this embodiment, the first pitch mechanism 31 includes two first gear sets 311 and a first frame 312 , and each first gear set 311 includes a first bevel gear 3111 and a second bevel gear 3112 ;

[0068] The first bevel gear 3111 and the second bevel gear 3112 each include a large end face, a small end face, and a center hole;

[0069] The first bevel gear 3111 of each first gear set 311 is meshed with the second bevel gear 3112. The small end faces of the two first bevel gears 3111 are arranged opposite each other, and the small end faces of the two second bevel gears 3112 are arranged opposite each other. The first frame 312 is arranged between the two second bevel gears 3112. The first frame 312 is hinged to the two second bevel gears 3112. The first frame 312 includes a first center column 3121. The center holes of the two first bevel gears 3111 are sleeved on the first center column 3121.

[0070] The first bevel gear 3111 is rotatably connected to the first frame 312 , and the second bevel gear 3112 is fixedly connected to the handle 4 .

[0071] Specifically, part of the conical surface of the first bevel gear 3111 has teeth, and the rest of the conical surface is a plane.

[0072] More specifically, an axial hole is provided on the first frame 312 , and the axial hole of the first frame 312 , the center hole of the second bevel gear 3112 and the handle 4 are rotatably connected via a first rotating shaft.

[0073] The pitching motion of the handle 4 drives the second bevel gear 3112 to rotate, and the second bevel gear 3112 engages with the first bevel gear 3111 to rotate the first bevel gear 3111. The pitching transmission mechanism 21 is connected to the first bevel gear 3111, and transmits the rotation of the bevel gear to the pliers head 1, causing the pliers blade 11 to undergo the same pitching motion.

[0074] In this embodiment, the first pitch mechanism 31 further includes two first sun gears 313 and a pitch sliding rod 314. Each of the first sun gears 313 includes an end face and a tooth portion. The end face of the first sun gear 313 is rotatably linked to the pitch sliding rod 314, and the pitch sliding rod 314 is connected to the pitch transmission mechanism 21.

[0075] A groove is formed on the large end surface of each first bevel gear 3111 , and internal teeth are formed on the inner wall of the groove. The internal teeth mesh with the teeth of the first sun gear 313 .

[0076] Specifically, each first sun gear 313 is rotationally connected to two pitch sliding rods 314 , and the two pitch sliding rods 314 are arranged in parallel.

[0077] More specifically, a through hole is further provided at the bottom of the groove, and the two first sun gears 313 are fixed by a second rotating shaft, and the second rotating shaft passes through the through hole.

[0078] The rotation of the handle 4 drives the second bevel gear 3112 to rotate, the second bevel gear 3112 drives the first bevel gear 3111 to rotate, the rotation of the first bevel gear 3111 causes the first sun gear 313 engaged therewith to rotate, the first sun gear 313 drives the pitch sliding rod 314 to move, the pitch transmission mechanism 21 is connected to the pitch sliding rod 314, and transmits the displacement of the pitch sliding rod 314 to the pliers head 1, causing the pliers blade 11 to undergo the same pitch movement.

[0079] In this embodiment, the first yaw mechanism 32 includes a yaw sliding rod 321, a second frame 322 and a second sun gear 323. One end of the yaw sliding rod 321 is hinged to the first pitch mechanism 31, and the other end is connected to the yaw transmission mechanism 22.

[0080] The second frame 322 is provided with a connecting column 3221 and a first sliding slot 3222 . The connecting column 3221 is fixedly connected to the second sun gear 323 . The second sun gear 323 is provided with teeth.

[0081] A gear ring 3122 is further provided on the first frame 312 . Teeth are provided on the inner side of the gear ring 3122 . The gear ring 3122 is engaged with the second sun gear 323 .

[0082] Specifically, two deflection sliding rods 321 are provided, and the two deflection sliding rods 321 are provided on both sides of the second frame 322 . Correspondingly, two first sliding slots 3222 are also provided.

[0083] The handle 4 performs a yaw motion, causing the first pitch mechanism 31 connected to the handle 4 to yaw synchronously. The yaw sliding rod 321 is rotationally connected to the first pitch mechanism 31, converting the yaw motion of the first pitch mechanism 31 into the sliding of the yaw sliding rod 321. The yaw sliding rod 321 is connected to the yaw transmission mechanism 22. The yaw transmission mechanism 22 transmits the sliding of the yaw sliding rod 321 to the pliers head 1, causing the pliers blade 11 to perform the same yaw motion.

[0084] In this embodiment, the pliers head 1 further includes a head shell 132, the head shell 132 including an end face and a side face, the side face of the head shell 132 is provided with a connecting hole 1321, the connecting hole 1321 is hingedly connected to the yaw transmission mechanism 22, the second pitch mechanism 12 and the second yaw mechanism 13 are provided in the head shell 132, and the second pitch mechanism 12 and the second yaw mechanism 13 are rotatably connected to the end face of the head shell 132;

[0085] The second pitch mechanism 12 includes two second gear sets 121, a third frame 122, two first spur gears 123 and two second spur gears 124. Each second gear set 121 includes a third bevel gear 1211 and a fourth bevel gear 1212.

[0086] The third bevel gear 1211 and the fourth bevel gear 1212 include a large end face, a small end face and a center hole;

[0087] The third bevel gear 1211 of each second gear set 121 is meshed with the fourth bevel gear 1212, the small end faces of the two third bevel gears 1211 are arranged opposite to each other, the small end faces of the two fourth bevel gears 1212 are arranged opposite to each other, the third frame 122 is arranged between the two fourth bevel gears 1212, and the third frame 122 is hinged to the two fourth bevel gears 1212; the third frame 122 includes a second center column 1221, the center holes of the two third bevel gears 1211 are sleeved on the second center column 1221, and the third frame 122 and the two third bevel gears 1211 are rotatably connected to the head shell 132;

[0088] There are two clamp leaves 11, and the two clamp leaves 11 are respectively fixedly connected to the large end surface of one of the fourth bevel gears 1212, and the two clamp leaves 11 are hinged to each other;

[0089] The second yaw mechanism 13 includes a fourth frame 131, the fourth frame 131 is provided with a second slide groove 1311 and a yaw gear 1312, the yaw transmission mechanism 22 slides in the second slide groove 1311, and the third frame 122 is further provided with an arcuate tooth 1222, the arcuate tooth 1222 has teeth on its arcuate surface, and the arcuate tooth 1222 is meshed with the yaw gear 1312;

[0090] Two first spur gears 123 are provided on the fourth frame 131 , the first spur gears 123 are rotatably connected to the fourth frame 131 , the axes of the two first spur gears 123 coincide with the axis of the yaw gear 1312 , and the end surfaces of the first spur gears 123 are rotatably connected to the pitch transmission mechanism 21 ;

[0091] The second spur gear 124 is fixed to the large end surface of the third bevel gear 1211 . The axis of the second spur gear 124 coincides with the axis of the third bevel gear 1211 . The second spur gear 124 is meshed with the first spur gear 123 .

[0092] Specifically, part of the conical surface of the third bevel gear 1211 has teeth, and the rest of the conical surface is a plane.

[0093] More specifically, each first spur gear 123 is rotationally connected to two pitch transmission rods 211 .

[0094] More specifically, the two first spur gears 123 are rotationally connected via a third rotation shaft.

[0095] More specifically, a shaft hole is provided on the third frame 122 , and the third frame 122 , the fourth bevel gear 1212 , and the clamp leaf 11 are connected via a rotating shaft.

[0096] More specifically, the head housing 132 is rotatably connected to the second pitch mechanism 12 via a fourth rotation axis, which passes through the center hole of the second spur gear 124 , the axis of the third bevel gear 1211 , and the second center column 1221 of the third frame 122 .

[0097] More specifically, the head housing 132 is rotatably connected to the second yaw mechanism 13 via a third rotation shaft, and the third rotation shaft passes through the axis of the first spur gear 123 and the yaw gear 1312 .

[0098] More specifically, the third frame 122 is rotatably connected to the center hole of the fourth bevel gear 1212 and the two clamp leaves 11 via the fifth rotation shaft.

[0099] More specifically, the gear ratio of the first bevel gear 3111 to the second bevel gear 3112 can be the same as or different from the gear ratio of the third bevel gear 1211 to the fourth bevel gear 1212. The pliers head 1 undergoes two gear transmissions, from the fourth bevel gear 1212 to the third bevel gear 1211, and from the second spur gear 124 to the first spur gear 123. Therefore, the pitch gear ratio of the pliers head 1 is (number of teeth of the fourth bevel gear 1212 * number of teeth of the second spur gear 124) / (number of teeth of the third bevel gear 1211 * number of teeth of the first spur gear 123). The same applies to the pitch gear ratio of the handle 3. When the pitch gear ratio of the pliers head 1 is the same as that of the handle 3, the pliers head 1 replicates the pitch motion of the grip 4.

[0100] More specifically, the straight tooth portions of the first frame 312 and the first bevel gear 3111 may be internal teeth or external teeth.

[0101] Specifically, the handle 4 can be in any form, and can be a push-type handle 4 or a scissor-type handle.

[0102] In this embodiment, the handle 4 includes two grip blocks 41, and both of the grip blocks 41 include a U-shaped block 411 and a D-shaped grip 412. The U-shaped block 411 is vertically fixedly connected to the D-shaped grip 412. The two U-shaped blocks 411 are respectively fixedly connected to the large end face of one of the second bevel gears 3112, and the two U-shaped blocks 411 are hinged to each other.

[0103] Specifically, the handle 4 may further include a spring, which is disposed between the two grip blocks 41 .

[0104] More specifically, the handle 4 may further include a locking assembly, which may be a rotating or sliding assembly.

[0105] More specifically, the D-shaped grip 412 may be provided with an anti-slip texture.

[0106] In this embodiment, the handle 3 also includes a first handle shell 33, which wraps the first pitch mechanism 31, the first bevel gear 3111 is rotatably connected to the first handle shell 33, the first sun gear 313 is rotatably connected to the first handle shell 33, and the first yaw mechanism 32 also includes a second handle shell 324, the first handle shell 33 is rotatably connected to the second handle shell 324, and the second handle shell 324 wraps the second frame 322.

[0107] More specifically, the first handle shell 33 and the second handle shell 324 are rotatably connected via a second rotation axis.

[0108] More specifically, the second handle housing 324 is rotatably connected to the first pitch mechanism 31 via a sixth rotation axis, and the sixth rotation axis passes through the center hole of the first bevel gear 3111 and the first center column 3121 of the first frame 312 .

[0109] More specifically, the first handle housing 33 rotates around the second rotation axis.

[0110] When the handle 4 performs a yaw motion, it drives the first frame 312 connected to the handle 4 to yaw synchronously. The first frame 312 acts as a planetary gear, and the second handle housing 324 acts as a planetary carrier. The first frame 312 meshes and rotates with the second sun gear 323, driving the second handle housing 324 to yaw. The yaw of the second handle housing 324 drives the yaw sliding rod 321 to move. The displacement of the yaw sliding rod 321 is transmitted to the head housing 132 via the yaw rotating rod 221, causing the head housing 132 to yaw synchronously. The third frame 122 acts as a planetary gear, and the head housing 132 acts as a planetary carrier. The third frame 122 meshes and rotates with the yaw gear 1312 of the fourth frame 131. The yaw of the head housing 132 drives the yaw of the third frame 122, causing the clamp blade 11 connected to the third frame to yaw synchronously, achieving synchronous yaw from the handle 4 to the clamp head 11.

[0111] In this embodiment, the clamp body 2 also includes a column shell 23 and a connecting shell 24. The column shell 23 wraps the pitch transmission mechanism 21 and the yaw transmission mechanism 22. The column shell 23 is connected to the first handle shell 33 through the connecting shell 24. The column shell 23 wraps the fourth frame 131. The column shell 23 is rotatably connected to the fourth frame 131.

[0112] Specifically, the outer diameter of the column housing 23 is between 8 mm and 10 mm.

[0113] More specifically, the connecting shell 24 is connected to the first handle shell 33 at the handle 3 by bolts.

[0114] In this embodiment, the pitch sliding rod 314 includes a protruding column 3141 , and the protruding column 3141 abuts against the inner wall of the first handle shell 33 .

[0115] The protruding column 3141 limits the up and down swinging of the pitch sliding rod 314 by contacting the inner wall of the first handle shell 33 .

[0116] In this embodiment, the pitch transmission mechanism 21 and the yaw mechanism both include a semicircular adapter 25, which is capable of rotating around its central axis. The semicircular adapter 25 includes two semicircular pieces 251, one of which is provided with a convex tooth, and the other is provided with a groove, wherein the convex tooth engages with the groove.

[0117] The pitch transmission mechanism 21 further includes a pitch transmission rod 211, the pitch transmission rod 211 being connected to the first pitch mechanism 31 via the semicircular connector 25, the pitch transmission rod 211 being connected to one of the semicircular pieces 251, and the first pitch mechanism 31 being connected to the other semicircular piece 251;

[0118] The yaw transmission mechanism 22 also includes a yaw transmission rod 221, one end of the yaw transmission rod 221 is connected to the first yaw mechanism 32 through the semicircular connector 25, and the other end is connected to the second yaw mechanism 13, the yaw transmission rod 221 is connected to one of the semicircular pieces 251, and the first yaw mechanism 32 is connected to the other semicircular piece 251.

[0119] By separating the semicircular connector 25 , the handle 3 and the forceps body 2 can be directly separated without disassembling other components, which can effectively improve the maintainability of the surgical forceps.

[0120] Unless otherwise specifically stated, the relative arrangement, numerical expression and numerical value of the parts and steps set forth in these embodiments do not limit the scope of the application. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a restriction. Therefore, other examples of exemplary embodiments can have different values. It should be noted that: similar reference numerals and letters represent similar items in the accompanying drawings below, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in the accompanying drawings subsequently.

[0121] In addition, it should be noted that the use of terms such as "first" and "second" for limitation is only for the convenience of distinction. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0122] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom surgical forceps, characterized in that: include: Pliers head (1), pliers body (2), handle (3), grip (4); The handle (3) comprises a first pitch mechanism (31) and a first yaw mechanism (32); The clamp head (1) comprises a clamp blade (11), a second pitch mechanism (12) and a second yaw mechanism (13); The handle (4) is connected to the first pitch mechanism (31), and the first pitch mechanism (31) is connected to the first yaw mechanism (32); The clamp leaf (11) is connected to the second pitch mechanism (12), and the second pitch mechanism (12) is connected to the second yaw mechanism (13); The clamp body (2) comprises a pitch transmission mechanism (21) and a yaw transmission mechanism (22); one end of the pitch transmission mechanism (21) is connected to the first pitch mechanism (31), and the other end is connected to the second pitch mechanism (12); one end of the yaw transmission mechanism (22) is connected to the first yaw mechanism (32), and the other end is connected to the second yaw mechanism (13); The first pitch mechanism (31) includes two first gear sets (311) and a first frame (312), and each of the first gear sets (311) includes a first bevel gear (3111) and a second bevel gear (3112); The first bevel gear (3111) and the second bevel gear (3112) both include a large end face, a small end face, and a center hole; The first bevel gear (3111) of each first gear set (311) is meshed with the second bevel gear (3112), the small end faces of the two first bevel gears (3111) are arranged opposite to each other, and the small end faces of the two second bevel gears (3112) are arranged opposite to each other, the first frame (312) is arranged between the two second bevel gears (3112), the first frame (312) and the two second bevel gears (3112) are hinged, the first frame (312) includes a first center column (3121), and the center holes of the two first bevel gears (3111) are sleeved on the first center column (3121); The first bevel gear (3111) is rotatably connected to the first frame (312), and the second bevel gear (3112) is fixedly connected to the handle (4); The first pitch mechanism (31) further includes two first sun gears (313) and a pitch sliding rod (314), each of the first sun gears (313) including an end face and a tooth portion, the end face of the first sun gear (313) is rotatably linked to the pitch sliding rod (314), and the pitch sliding rod (314) is connected to the pitch transmission mechanism (21); A groove is provided on the large end face of each first bevel gear (3111), and internal teeth are provided on the inner wall of the groove, and the internal teeth mesh with the teeth of the first sun gear (313).

2. The multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: The first yaw mechanism (32) comprises a yaw sliding rod (321), a second frame (322) and a second sun gear (323); one end of the yaw sliding rod (321) is hinged to the first pitch mechanism (31), and the other end is connected to the yaw transmission mechanism (22); The second frame (322) is provided with a connecting column (3221) and a first sliding groove (3222), the connecting column (3221) is fixedly connected to the second sun gear (323), and the second sun gear (323) is provided with teeth; The first frame (312) is further provided with a gear ring (3122), the inner side of the gear ring (3122) is provided with teeth, and the gear ring (3122) is engaged with the second sun gear (323).

3. The multi-degree-of-freedom surgical forceps according to claim 2, characterized in that: The second yaw mechanism (13) further comprises a head shell (132), the head shell (132) comprising an end face and a side face, the side face of the head shell (132) being provided with a connecting hole (1321), the connecting hole (1321) being hingedly connected to the yaw transmission mechanism (22), the second pitch mechanism (12) and the second yaw mechanism (13) being provided in the head shell (132), the second pitch mechanism (12) and the second yaw mechanism (13) being rotatably connected to the end face of the head shell (132); The second pitch mechanism (12) comprises two second gear sets (121), a third frame (122), two first spur gears (123) and two second spur gears (124), and each of the second gear sets (121) comprises a third bevel gear (1211) and a fourth bevel gear (1212); The third bevel gear (1211) and the fourth bevel gear (1212) include a large end face, a small end face and a center hole; The third bevel gear (1211) of each second gear set (121) is meshed with the fourth bevel gear (1212), the small end faces of the two third bevel gears (1211) are arranged opposite to each other, the small end faces of the two fourth bevel gears (1212) are arranged opposite to each other, the third frame (122) is arranged between the two fourth bevel gears (1212), and the third frame (122) and the two fourth bevel gears (1212) are hinged; the third frame (122) includes a second center column (1221), the center holes of the two third bevel gears (1211) are sleeved on the second center column (1221), and the third frame (122) and the two third bevel gears (1211) are rotatably connected to the head shell (132); The clamping leaves (11) are provided with two, and the two clamping leaves (11) are respectively fixedly connected to the large end surface of one of the fourth bevel gears (1212), and the two clamping leaves (11) are hinged to each other; The second yaw mechanism (13) includes a fourth frame (131), the fourth frame (131) is provided with a second slide groove (1311) and a yaw gear (1312), the yaw transmission mechanism (22) slides in the second slide groove (1311), the third frame (122) is further provided with an arcuate tooth (1222), the arcuate surface of the arcuate tooth (1222) is provided with a tooth, and the arcuate tooth (1222) is meshed with the yaw gear (1312); Two first spur gears (123) are provided on the fourth frame (131), the first spur gears (123) are rotatably connected to the fourth frame (131), the axes of the two first spur gears (123) coincide with the axis of the yaw gear (1312), and the end faces of the first spur gears (123) are rotatably connected to the pitch transmission mechanism (21); The second spur gear (124) is fixed on the large end face of the third bevel gear (1211), the axis of the second spur gear (124) coincides with the axis of the third bevel gear (1211), and the second spur gear (124) is meshed with the first spur gear (123).

4. The multi-degree-of-freedom surgical forceps according to claim 3, characterized in that: The handle (4) comprises two grip blocks (41), each of the two grip blocks (41) comprising a U-shaped block (411) and a D-shaped grip opening (412), the U-shaped block (411) being vertically fixedly connected to the D-shaped grip opening (412), the two U-shaped blocks (411) being respectively fixedly connected to the large end surface of one of the second bevel gears (3112), and the two U-shaped blocks (411) being hinged to each other.

5. The multi-degree-of-freedom surgical forceps according to claim 4, characterized in that: The handle (3) also includes a first handle shell (33), the first handle shell (33) encloses the first pitch mechanism (31), the first bevel gear (3111) is rotationally connected to the first handle shell (33), the first sun gear (313) is rotationally connected to the first handle shell (33), the first yaw mechanism (32) also includes a second handle shell (324), the first handle shell (33) is rotationally connected to the second handle shell (324), and the second handle shell (324) encloses the second frame (322).

6. The multi-degree-of-freedom surgical forceps according to claim 5, characterized in that: The clamp body (2) further comprises a column shell (23) and a connecting shell (24); the column shell (23) encloses the pitch transmission mechanism (21) and the yaw transmission mechanism (22); the column shell (23) is connected to the first handle shell (33) via the connecting shell (24); the column shell (23) encloses the fourth frame (131); and the column shell (23) is rotatably connected to the fourth frame (131).

7. The multi-degree-of-freedom surgical forceps according to claim 6, characterized in that: The pitch sliding rod (314) includes a protruding column (3141), and the protruding column (3141) abuts against the inner wall of the first handle shell (33).

8. The multi-degree-of-freedom surgical forceps according to any one of claims 1 to 7, characterized in that: The pitch transmission mechanism (21) and the yaw transmission mechanism (22) both include a semicircular connector (25), the semicircular connector (25) being capable of rotating around a central axis of the semicircular connector (25), the semicircular connector (25) including two semicircular pieces (251), one of the semicircular pieces (251) being provided with a convex tooth, and the other semicircular piece (251) being provided with a groove, the convex tooth being engaged with the groove; The pitch transmission mechanism (21) further comprises a pitch transmission rod (211), the pitch transmission rod (211) being connected to the first pitch mechanism (31) via the semicircular connector (25), the pitch transmission rod (211) being connected to one of the semicircular pieces (251), and the first pitch mechanism (31) being connected to the other semicircular piece (251); The yaw transmission mechanism (22) further comprises a yaw transmission rod (221), one end of the yaw transmission rod (221) being connected to the first yaw mechanism (32) via the semicircular connector (25), and the other end being connected to the second yaw mechanism (13), the yaw transmission rod (221) being connected to one of the semicircular pieces (251), and the first yaw mechanism (32) being connected to the other semicircular piece (251).

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