Manual control type multi-degree-of-freedom operating forceps

Abstract

The invention discloses manual control type multi-degree-of-freedom operating forceps, and relates to the technical field of surgical operating instruments. In order to solve the problems that an existing minimally invasive surgical operating instrument is numerous and jumbled in structure and lacks a degree-of-freedom locking structure, and opening and closing of a forceps head are easily interfered by pitching and deflection of a handle, the following technical scheme is provided: the minimally invasive surgical operating instrument comprises the handle, a shell, an actuating part, a connecting rod, a transmission wire and the forceps head, and a locking part is arranged close to the front end of the handle; the action of the operating forceps in the corresponding degree-of-freedom direction is locked or unlocked; a transmission part is arranged in the shell, an arch-shaped arm is arranged at the tail end of the shell, the arch-shaped end of the arch-shaped arm is arranged around the top of the shell, the front end of the arch-shaped arm is connected with a connecting rod, and a tong head is arranged at the front end of the connecting rod. The transmission wire is arranged in the arch-shaped arm, and the transmission part transmits the action of the actuating part to the tong head through the transmission wire. According to the operating forceps, the accuracy of operation of the operating forceps is improved, the visual effect of operation control is improved, and the operation of controlling and locking / unlocking the forceps heads is simple and convenient.

Description

Technical Field

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

[0002] Minimally invasive surgery refers to the use of slender surgical tools by doctors to penetrate into the body through tiny incisions on the surface of the human body to perform surgical operations. Compared with traditional open surgery, it has the advantages of small surgical incisions, less bleeding, small postoperative scars, and quick recovery time, which greatly reduces the pain suffered by patients; therefore, minimally invasive surgical instruments are widely used in clinical surgery and are essential tools for surgical operations. They can perform different functions, including clamping, resection, cutting, suturing, anastomosis and other actions. Currently, most minimally invasive surgical instruments are hand-controlled straight rod instruments. The end effector of the instrument only has the degree of freedom of opening and closing, and has no joint swing function. The instrument operation flexibility is low, which increases the difficulty of surgical operation.

[0003] To solve the above problems, some companies at home and abroad have developed multi-degree-of-freedom surgical instruments, which enable the instruments to have freedom in multiple directions such as opening and closing, pitch and yaw, thereby increasing the flexibility of minimally invasive surgical instruments, such as the surgical instruments disclosed in Chinese patent applications with publication numbers CN113924047A and CN220967419U. However, some of these solutions have complex structures resulting in low transmission efficiency, some operations are not precise enough, and due to the lack of a degree-of-freedom locking structure, the opening and closing of the forceps head is easily affected by the pitch and yaw of the handle, and the movement accuracy of the surgical forceps and the surgical control effect need to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide a hand-controlled multi-degree-of-freedom surgical forceps to solve the problems that existing minimally invasive surgical instruments have complex structures, low transmission efficiency, and need to improve operating accuracy. At the same time, there is a lack of degree-of-freedom locking structure, and the opening and closing of the forceps head is easily affected by the pitch and yaw of the handle.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A hand-controlled multi-degree-of-freedom surgical forceps, comprising: a handle, a shell, an actuating part, a connecting rod and a forceps head, wherein the shell is arranged on the top of the handle, and the actuating part is arranged on the front end of the shell; a transmission part is arranged inside the shell, and an arched arm is arranged at the rear end of the shell, and the arched end of the arched arm is arranged around the top of the shell, and the front end of the arched arm is connected to the connecting rod, and the forceps head is arranged at the front end of the connecting rod; It also includes a transmission wire and a locking part. The transmission wire is arranged inside the bow arm and extends into the transmission part. The transmission part transmits the action of the actuator part to the pliers head through the transmission wire. The locking part is arranged at the front end and inside of the handle, as well as inside the outer shell, and is used to lock or unlock the action of the pliers head in each degree of freedom direction.

[0006] Preferably, a base and a pedestal are respectively installed on the top of the handle, and the transmission part is installed on the top of the base. Preferably, the transmission part includes an actuating wheel group, a transmission wheel group, an upper connecting seat and a lower connecting seat, the upper connecting seat is arranged on the top of the lower connecting seat, the lower connecting seat is arranged on the top of the base, the actuating wheel group is arranged between the upper connecting seat and the lower connecting seat, the upper connecting seat and the lower connecting seat are respectively connected to the base, and the transmission wheel group is arranged on the base.

[0007] Preferably, the locking part includes a locking operating part, a locking control part, a locking cable, a first locking assembly and a second locking assembly. The locking operating part is arranged at the middle part of the front end of the handle, the locking control part is fixedly arranged on the inner wall of the handle, and the locking control part is transmission-connected to the locking operating part; the first locking assembly is arranged on the rear side of the base and connected to the root of the bow arm, and the second locking assembly is arranged on the top of the base and connected to the upper connecting seat; the first locking assembly and the second locking assembly are both connected to the locking operating part and the locking control part through a locking cable.

[0008] Preferably, the actuating wheel set includes a left actuating wheel and a right actuating wheel of the same structural size, and the left actuating wheel and the right actuating wheel are meshed with each other through gears. The transmission wheel set includes a first tensioning wheel set and a first direction-changing wheel set respectively installed vertically in the base, and a second tensioning wheel set and a second direction-changing wheel set respectively installed horizontally on both sides of the rear end of the base, and the first tensioning wheel set, the first direction-changing wheel set, the second tensioning wheel set, and the second direction-changing wheel set each include four wheels, and a linear groove is provided on the outer circumference of each wheel.

[0009] Preferably, the pliers head part includes a left pliers head, a right pliers head, a connecting sleeve, a conversion wheel group and an adapter. The left pliers head and the right pliers head are respectively rotatably connected to the adapter, the adapter is rotatably connected to the connecting sleeve, the connecting sleeve is fixed on the connecting rod, and a conversion wheel group is arranged at the front end of the connecting sleeve for tensioning and changing the direction of the transmission wire.

[0010] Preferably, the left actuating wheel and the right actuating wheel both include a wheel hub, a connecting gear arranged in the wheel hub, a locking pin arranged at the bottom of the wheel hub, and a handle arranged on the circumferential surface of the wheel hub. A wire groove is provided at the side end of the wheel hub, and the handle is connected to the actuating rod of the actuating part. The left actuating wheel and the right actuating wheel are meshed through the connecting gear.

[0011] Preferably, the transmission wire includes a right-opening transmission wire for controlling the right pliers head to rotate to the right, a left-opening transmission wire for controlling the left pliers head to rotate to the left, a right-closing transmission wire for controlling the right pliers head to rotate to the left, and a left-closing transmission wire for controlling the left pliers head to rotate to the right; both ends of each transmission wire are riveted cylindrical joints and one end is clamped onto the locking column, the transmission wire is first tensioned and changed in direction by the wheels corresponding to the first tensioning wheel group and the first changing wheel group, and then tensioned and changed in direction for the second time by the wheels corresponding to the second tensioning wheel group and the second changing wheel group, and then guided to the pliers head through the wheel group arranged on the bow arm, and engaged through the other end of the transmission wire.

[0012] Preferably, the first locking assembly and the second locking assembly both include a fixed plate, two movable clips are provided on the fixed plate, the ends of the two movable clips clamp the locking gear, a moving part is provided between the two movable clips, a spring is provided at the tail of the moving part, and a limiting shaft is provided between the fixed plate and the moving part.

[0013] The present invention has the following beneficial effects: This embodiment uses only four transmission wires to achieve control of the three directions (degrees of freedom) of the forceps head. The transmission structure is simple and efficient, which can improve the transmission efficiency and accuracy of surgical actions and make the operation effect more intuitive.

[0014] Multi-DOF operation and locking function: The surgical forceps are designed with a locking part that can easily lock or unlock the movement of the surgical forceps in the direction of the corresponding degree of freedom, providing a more stable and controllable operating environment, especially in medical operations that require precise control of the position and movement of the forceps head.

[0015] Precise transmission mechanism: Through the actuating wheel set and transmission wheel set in the transmission part, as well as the finely designed transmission wire layout, precise transmission from the handle to the pliers head is achieved, which not only improves the sensitivity of the operation, but also ensures the accuracy and reliability of the action.

[0016] Flexible forceps head design: The forceps head part includes left forceps head, right forceps head and conversion wheel assembly and other components, which can be tensioned and adjusted according to different surgical needs, increasing the scope of application of surgical forceps and improving surgical flexibility and efficiency.

[0017] Easy-to-operate actuator: The actuator is simple and intuitive in design. The left and right actuator wheels are meshed with gears, and the handle is sleeved in the actuator rod, so that the doctor can easily control the opening and closing of the forceps head.

[0018] Stable and reliable locking assembly: Both the first locking assembly and the second locking assembly adopt the design of a movable clamp clamping the locking gear, which cooperates with the spring and the limit shaft to ensure the stability and reliability of the locking function, which not only improves the safety of the surgical forceps, but also extends the service life of the equipment.

[0019] Compact structural design: The structural design of the entire surgical forceps is compact and reasonable, and the connection between the components is tight and stable, which improves the durability of the surgical forceps and is easy to carry and store.

[0020] Strong adaptability: Due to the use of multiple degrees of freedom and flexible transmission mechanism, the surgical forceps can adapt to a variety of different surgical scenarios and needs, providing doctors with more operating options and possibilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of surgical forceps; Figure 2 This is a schematic diagram of the internal structure of the surgical forceps in a locked state; Figure 3 It is a schematic diagram of the transmission structure; Figure 4 It is a schematic diagram of the connection structure between the transmission wire, the transmission wheel group and the actuating wheel group; Figure 5 It is a schematic diagram of the overall connection structure of the transmission wire; Figure 6 It is a schematic diagram of the structure of the clamp head; Figure 7 is a schematic diagram of the structure of the right actuating wheel; Figure 8 It is a schematic diagram of the overall structure of the first locking assembly / the second locking assembly; Fig. 9 It is a schematic diagram of the structure of the locking part inside the handle; Figures 1 to 9The reference numerals shown in the figure represent respectively: handle 1, base 11, upper connecting seat 111, lower connecting seat 112, base 12, transmission wire 13, right opening transmission wire 131, left opening transmission wire 132, right closing transmission wire 133, left closing transmission wire 134, housing 2, actuating part 3, hub 31, handle 32, connecting gear 33, wire groove 34, locking column 35, transmission part 21, actuating wheel group 211, transmission wheel group 212, locking part 22, locking operating member 221, locking control member 222, locking cable 223, first locking assembly 224, second locking assembly 225, bow arm 23, connecting rod 4, pliers head 5, left pliers head 5 1. Right clamp head 52, connecting sleeve 53, conversion wheel group 54, adapter 55, left actuating wheel 2111, right actuating wheel 2112, first tensioning wheel group 2121, first direction-changing wheel group 2122, second tensioning wheel group 2123, second direction-changing wheel group 2124, fixing plate 2201, two movable clips 2202, locking gear 2203, moving part 2204, spring 2205, limiting shaft 2206, locking cable 2207, fixing hole 2208, hole column 2209, slide groove 2210, handshake part 2211, winding part 2212, clamping groove cavity 2213, swing rod 2214, telescopic rod 2215, limiting block 2216. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] Please refer to Figure 1-2The present invention provides a hand-controlled multi-degree-of-freedom surgical forceps, including a handle 1, a shell 2, an actuating portion 3, a transmission portion 21 arranged in the shell 2, a locking portion 22, a bow arm 23, a connecting rod 4 and a forceps head 5. The handle 1 is used to install the actuating part 3, the transmission part 21 and the locking part 22 through the base 11 and the base 12 and support the entire surgical forceps structure, so that the doctor can hold it by hand for operation; the connecting rod 4 is used to install the forceps head 5 and arrange the transmission wire 13 that is connected to the forceps head 5; the actuating part 3 is used to convert the doctor's hand operation into the movement of the transmission wire 13, and then pull the forceps head 5 to move synchronously through the movement of the wire 13; the bow arm 23 is used to lay the transmission wire 13, one end of which is installed with the connecting rod 4 and the other end is connected to the base 12, and then cooperates with the transmission part 21 to transmit and convert the movement of the actuating part 3 to the forceps head 5 through the transmission wire 13, so that the forceps head 5 performs actions required for the operation such as clamping, gripping, cutting, suturing, etc.; the hand operation implemented by medical personnel through the handle 1 and the actuating part 3 includes making the forceps head 5 intuitively and synchronously open and close, pitch and yaw, etc., and locking or unlocking the movement in the corresponding degree of freedom direction by operating the locking part 22.

[0024] Please refer to Figure 2-3 The top of the handle 1 is sequentially installed with a base 11, a seat 12, an actuating part 3, and a transmission part 21, wherein the transmission part 21 includes an actuating wheel group 211, a transmission wheel group 212, and an upper connecting seat 111 and a lower connecting seat 112 for installing the actuating wheel group 211 and the transmission wheel group 212 on the base 11 and the seat 12, and the lower connecting seat 112 is located between the base 11 and the seat 12, and the upper and lower connecting seats and the wheel groups therebetween, as well as the base 12 and the seat 11 are limitedly connected from top to bottom through a plurality of connecting pins, so that the various components can rotate around the pin shaft; the actuating wheel group 211 and the transmission wheel group 212 are used for winding and arranging the transmission wire 13, and the actions of the actuating part 3 and the handle 1 are transmitted to the pliers head 5 through the action of the transmission wire 13; the actuating part 3 includes a left actuating rod and a right actuating rod, which are respectively connected with the left actuating wheel group and the right actuating wheel group.

[0025] One side of the base 11 is fixedly connected to the upper part of the handle 1, and the other side can be fixedly connected or clamped to the lower connecting seat 112 through a bolt thread. The upper and lower connecting seats are movably connected to the base 12 after being matched and connected through connecting holes and connecting bolts (or pins, keys, etc., which serve as the mounting shafts of the left and right actuating wheel groups); the front end of the base 12 is an upper and lower sheet-shaped mounting plate arranged in parallel and fixedly connected to the rear end of the base 12, which is used to install the transmission wheel group 212 and the first and second locking components of the locking part 22.

[0026] The locking part 22 includes a locking operating member 221, a locking control member 222, a locking cable 223, a first locking component 224 and a second locking component 225, wherein the locking operating member 221 is handle-shaped and is arranged in the middle of the front end of the handle 1, the locking control member 222 is fixedly arranged on the inner bottom side wall of the handle 1, and is transmission-connected to the locking operating member 221 through a rod; the first locking component 224 is arranged on the rear side of the base 12 and is connected to the root of the bow arm 23 through a key or pin, and the second locking component 225 is arranged on the top of the base 12 and is connected to the upper connecting seat 111 through a key or pin; the first and second locking members are connected to the locking operating member 221 through the locking cable 223.

[0027] The first locking member 224 is used to lock the base 12 and the bow arm 23 to prevent the two from relative rotation around the Y axis under the up and down drive of the handle 1, so that the transmission wire 13 that controls the up and down rotation of the pliers head will not move around the wheel group, thereby locking the pitch freedom and preventing the pliers head 5 from rotating up and down; the second locking member 225 is used to lock the base 12, the base 11 and the upper and lower connecting seats to prevent the upper and lower connecting seats from driving the actuating wheel group 211 and the transmission wheel group 212 (and the base 1) to relative deflect around the X axis under the left and right rotation of the handle 1, so that the transmission wire 13 that controls the left and right swing of the pliers head 5 will not move around the wheel group, thereby locking the swing freedom and preventing the pliers head 5 from deflecting left and right.

[0028] It should be noted that the above-mentioned first and second locking assemblies can only lock / unlock the freedom of the pliers 5 in the corresponding directions of pitch and yaw, and will not affect the opening and closing freedom of the pliers 5. In the locked state, the opening and closing of the pliers 5 can still be controlled by the actuator 3 driving the wheel group to rotate around its own axis to move the transmission wire 13, thereby continuing to control the opening and closing action of the pliers 5.

[0029] Figure 4 It is a schematic diagram of the connection structure between the transmission wire, the transmission wheel group and the actuating wheel group; Figure 5 It is a schematic diagram of the overall connection structure of the transmission wire; wherein, the actuating wheel group 211 includes a left actuating wheel 2111 and a right actuating wheel 2112 with the same structural dimensions, and the two actuating wheels are meshed with each other through gears; the transmission wheel group 212 includes a first tensioning wheel group 2121 and a first direction-changing wheel group 2122 vertically installed in the base 12, and a second tensioning wheel group 2123 and a second direction-changing wheel group 2124 horizontally installed on both sides of the rear end of the base 12, each wheel group includes four wheels, and a wire groove is opened on the outer circumference of each wheel.

[0030] Specifically, Figure 3 , Figure 4 and Figure 5As shown, the transmission wire 13 includes a right opening transmission wire 131 for controlling the right clamp head 52 to rotate to the right, a left opening transmission wire 132 for controlling the left clamp head 51 to rotate to the left, a right closing transmission wire 133 for controlling the right clamp head 52 to rotate to the left, and a left closing transmission wire 134 for controlling the left clamp head 51 to rotate to the right, wherein one end of each transmission wire 13 is riveted with a cylindrical joint and is clamped to the actuating wheel through the joint; the right opening transmission wire 131 and the right closing transmission wire 133 are respectively tensioned by the two wheels on the lower side of the first tensioning wheel group 2121 and changed direction by the two wheels on the lower side of the first changing wheel group 2122, and then tensioned and changed direction for the second time by the wheels on both sides of the second tensioning wheel group 2123 and the second changing wheel group 2124, and then guided to the right clamp head 52 through multiple wheel groups arranged on the bow arm 23 for engagement.

[0031] Similarly, the left opening transmission wire 132 and the left closing transmission wire 134 are respectively tensioned by the two upper wheels of the first tensioning wheel group 2121 and changed direction by the two upper wheels of the first changing wheel group 2122, and then circle around the wheels on both sides of the second tensioning wheel group 2123 and the second changing wheel group 2124, and then are tensioned and changed direction for the second time by the wheels on both sides of the second tensioning wheel group 2123 and the second changing wheel group 2124, and then are guided to the left clamp head 51 for engagement through the multiple wheel groups arranged on the bow arm 23.

[0032] like Figure 6 As shown, the pliers head 5 includes a left pliers head 51, a right pliers head 52, a connecting sleeve 53, a conversion wheel set 54, and an adapter 55. The left and right pliers heads are rotatably connected to the adapter 55 by rivets / pins, etc., and the adapter 55 is then rotatably connected to the connecting sleeve 53, and the connecting sleeve 53 is finally fixed to the connecting rod 4; two conversion wheel sets 54 are set on the front end of the connecting sleeve 53, which are respectively used to tension and change the direction of the transmission wire 13.

[0033] like Figure 7 As shown, the left actuating wheel is the same; it includes a hub 31, a handle 32 arranged on the circumferential surface of the hub 31, a connecting gear 33, a wire groove 34 and a wire locking post 35. The handle 32 is sleeved in the actuating rod for transmission, the wire groove 34 is used to place the transmission wire 13, and the wire locking post 35 is used to lock the joint of the transmission wire 13. The left and right actuating wheels are engaged through the connecting gear 33.

[0034] The control principle of the clamp head is as follows: When the pliers head is in the closed state, the right actuating rod of the actuating part 3 acts on the right actuating wheel to deflect it to the right, and the right actuating wheel drives the right opening transmission wire to make it tightened and relaxes the right closing transmission wire at the same time, thereby causing the right pliers head to deflect and move to the right and open; the closing process of the right pliers head is achieved by retracting the right actuating rod to the left to cause the right actuating wheel to rotate to the left, driving the right closing transmission wire to make it tightened and relaxes the right opening transmission wire at the same time, thereby causing the right pliers head to deflect back to the left and close; the opening and closing principles of the left pliers head are the same as above.

[0035] In addition, when the locking assembly is in the unlocked state, if the left and right actuating rods are moved simultaneously in a horizontal direction, such as to the right, the left closing transmission wire and the right opening transmission wire can be simultaneously driven by the left and right actuating wheels to tighten them and relax the left opening transmission wire and the right closing transmission wire, thereby driving the left and right pliers heads to deflect and move to the right at the same time. Similarly, the left and right pliers heads can be deflected and moved to the left, thereby realizing the left and right swinging action of the entire pliers head.

[0036] When the locking assembly is in the unlocked state, if the left and right actuating rods are moved simultaneously in a vertical direction, such as upward (an equivalent effect can be achieved by lifting the handle upward), the right opening and right closing transmission wires can be simultaneously tensioned and the left opening and left closing transmission wires can be relaxed through the left and right actuating wheels, thereby driving the entire pliers head to deflect upward. Similarly, moving downward can simultaneously tension the left opening and left closing transmission wires and relax the right opening and right closing transmission wires to deflect the entire pliers head downward, ultimately achieving the pitching action of the entire pliers head.

[0037] like Figure 8As shown, the first locking assembly and the second locking assembly have the same structure, both of which include a fixed plate 2201, two movable clips 2202, a locking gear 2203, a moving part 2204, a spring 2205, a limit shaft 2206 and a locking cable 2207. The fixed plate 2201 is provided with a fixing hole 2208, a hole column 2209 and a fixing part for installing the limit shaft 2206 and the locking cable 2207. The fixing hole 2208 is used to install the entire locking assembly on the base 12, and the hole column 2209 is used to movably install the movable clip 2202 so that the movable clip 2202 can rotate around the hole column 2209; the movable clip 2202 is in the shape of a thin plate, one end of which is opened and installed on the hole column 2209, and the other end is wedge-shaped and a plurality of racks are arranged at the end for matching with the locking gear 2203. A slide groove 2210 is set in the middle of 202 (the directions of the first and second locking component slide grooves are opposite) for sliding cooperation with the limit column set at the end of the moving part 2204, and the locking gear 2203 is fixedly connected to the root of the bow arm 23 and the base 11; the locking cable 2207 is a moldable hose with a transmission wire 13 inserted inside, one end of the transmission wire 13 is fixedly connected to the column at one end of the moving part 2204, and the other end of the transmission wire 13 is wound and fixedly connected to the winding part of the locking operating part 221; a cavity is also provided in the middle of the moving part 2204 for the limit shaft 2206 to slide inside it to ensure coaxiality; the spring 2205 is used to provide the restoring force of the moving part, and the two ends of the spring 2205 are respectively connected to the limit shaft 2206 and the column at one end of the moving part 2204; the transmission wire 13 is a wear-resistant flexible rope, such as a steel wire rope.

[0038] The structure of the locking portion 22 inside the handle 1 is as follows Fig. 9 As shown; the locking operating member 221 includes a fixedly connected (or integrally formed) handshake portion 2211 and a winding portion 2212, the handshake portion 2211 is arranged at the middle of the front end of the handle 1 for accepting a manual locking operation (upward) or unlocking operation (downward) by medical personnel, and the winding portion 2212 is movably installed in the middle of the handle and can rotate; a locking control member 222 is arranged at the bottom of the handle 1, and the locking control member 222 includes a swing rod 2214, a telescopic rod 2215, a limit block 2216, and a clamping groove cavity 2213 (with a built-in spring), the two ends of the swing rod 2214 are movably connected to the winding portion 2212 and the telescopic rod 2215 respectively, the telescopic rod 2215 is limitedly connected to the limit block 2216, and the limit block 2216 is limitedly connected to the spring in the clamping groove cavity 2213 and moves in the clamping groove cavity 2213; the telescopic rod 2215 and the clamping groove cavity 2213 are installed on the side wall of the handle 1.

[0039] When the grip portion 2211 moves downward to unlock, the winding portion 2212 rotates counterclockwise to drive the swing rod 2214 to move toward the rear end of the handle 1, and the swing rod 2214 applies a downward force to the telescopic rod 2215 to press the limit block 2216 back to the clamping groove 2213, thereby clamping and compressing the internal spring, so that the transmission wire 13 in the locking cable is in a tensioned state, and the springs of the first and second locking assemblies are stretched, and the moving member 2204 slides along the slide groove 2210 of the movable clip 2202 to lock. The gear 2203 is released by the movable clip 2202, and at this time, the first and second locking assemblies are both in the unlocked state, that is, under the upward or downward force of the handle 1, the base 12 and the bow arm 23 can rotate relative to each other around the Y axis (pitch freedom), and under the force of the left and right rotation of the handle 1, the base 11 drives the upper and lower connecting seats to drive the actuating wheel group 211 and the transmission wheel group 212 to have a relative deflection around the X axis (yaw freedom), so that the pliers head 5 can rotate up and down and left and right under the drive of the transmission wire 13 wrapped around the wheel group.

[0040] When the grip portion 2211 moves upward for locking, the winding portion 2212 rotates clockwise to drive the swing rod 2214 to move toward the front end of the handle 1. At the same time, the compressed spring in the clamping groove 2213 is reset to pop out the limit block 2216 and apply an upward force to the telescopic rod 2215. The telescopic rod 2215 then pushes the swing rod 2214 to move toward the front end of the handle 1, so that the transmission wire 13 of the locking cable 2207 is relaxed, and finally the springs of the first and second locking assemblies are reset to make the moving part 2204 of the locking assembly move toward the movable clip 2202 in the sliding groove 2210. The two movable clamps 2202 move in the closing direction, so that the rack of the movable clamp 2202 rotates to a position meshing with the locking gear 2203 to achieve locking; at this time, the operations of the pliers head 5 in the pitch and yaw directions are locked, and the opening and closing of the pliers head 5 can only be achieved through the action of the actuator 3, thereby reducing the unexpected disturbance of the opening and closing actions of the pliers head 5 such as clamping, gripping, cutting, and suturing during the operation by the pitch and yaw of the handle 1, effectively preventing the deformation of the pliers head 5 due to misoperation, improving the accuracy of the surgical pliers action, and improving the intuitive effect of surgical manipulation. Of course, if the direction of the pliers head 5 needs to be adjusted during the operation, it can be unlocked by pulling the locking operating member 221 downward, so that the pliers head 5 can restore the degree of freedom in the pitch and yaw directions, and then the handle 1 can be adjusted accordingly. After the adjustment, the locking operating member 221 can be pulled upward to lock the pliers head 5 again.

[0041] It is worth noting that the present embodiment only demonstrates the simultaneous control of the first and second locking assemblies by means of a set of locking operating members 221 and locking control members 222. In other embodiments, two sets of the same locking operating members 221 and locking control members 222 (which can be respectively arranged on both sides of the handle) can be used to respectively control the first and second locking assemblies, thereby respectively locking / unlocking the pitch freedom and yaw freedom of the surgical forceps, and achieving more precise operational control, such as locking only the pitch direction, while the opening and closing and yaw directions are in an unlocked state, so that the forceps head 5 can be deflected left and right and opened and closed at the same time.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hand-controlled multi-degree-of-freedom surgical forceps, characterized in that: include: A handle (1), a housing (2), an actuating portion (3), a connecting rod (4) and a pliers head (5), wherein the housing (2) is arranged at the top of the handle (1), and the actuating portion (3) is arranged at the front end of the housing (2); a transmission portion (21) is arranged inside the housing (2), and a bow-shaped arm (23) is arranged at the rear end of the housing (2), the bow-shaped end of the bow-shaped arm (23) is arranged around the top of the housing (2), the front end of the bow-shaped arm (23) is connected to the connecting rod (4), and the pliers head (5) is arranged at the front end of the connecting rod (4); The invention also comprises a transmission wire (13) and a locking portion (22), wherein the transmission wire (13) is arranged inside the bow-shaped arm (23) and extends into the transmission portion (21), and the transmission portion (21) transmits the action of the actuating portion (3) to the pliers head (5) via the transmission wire (13); the locking portion (22) is respectively arranged at the front end and inside of the handle (1) and inside the housing (2), and is used to lock or unlock the action of the pliers head (5) in each degree of freedom direction.

2. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: A base (11) and a seat (12) are respectively mounted on the top of the handle (1), and the transmission part (21) is mounted on the top of the base (11).

3. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 2, characterized in that: The transmission part (21) comprises an actuating wheel group (211), a transmission wheel group (212), an upper connecting seat (111) and a lower connecting seat (112); the upper connecting seat (111) is arranged on the top of the lower connecting seat (112); the lower connecting seat (112) is arranged on the top of the base (11); the actuating wheel group (211) is arranged between the upper connecting seat (111) and the lower connecting seat (112); the upper connecting seat (111) and the lower connecting seat (112) are respectively connected to the base (12); and the transmission wheel group (212) is arranged on the base (12).

4. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 3, characterized in that: The locking portion (22) comprises a locking operating member (221), a locking control member (222), a locking cable (223), a first locking assembly (224) and a second locking assembly (225); the locking operating member (221) is arranged at the middle of the front end of the handle (1); the locking control member (222) is fixedly arranged on the inner side wall of the handle (1); and the locking control member (222) is drivingly connected to the locking operating member (221); The first locking assembly (224) is arranged on the rear side of the base (12) and connected to the root of the bow-shaped arm (23), and the second locking assembly (225) is arranged on the top of the base (12) and connected to the upper connecting seat (111); the first locking assembly (224) and the second locking assembly (225) are both connected to the locking operating member (221) and the locking control member (222) via the locking cable (223).

5. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 3, characterized in that: The actuating wheel set (211) comprises a left actuating wheel (2111) and a right actuating wheel (2112) having the same structural dimensions, and the left actuating wheel (2111) and the right actuating wheel (2112) are meshed with each other via gears.

6. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 5, characterized in that: The transmission wheel group (212) comprises a first tensioning wheel group (2121) and a first direction-changing wheel group (2122) respectively mounted vertically in the base (12), and a second tensioning wheel group (2123) and a second direction-changing wheel group (2124) respectively mounted laterally on both sides of the rear end of the base (12); the first tensioning wheel group (2121), the first direction-changing wheel group (2122), the second tensioning wheel group (2123), and the second direction-changing wheel group (2124) each comprise four wheels, and a linear groove is provided on the outer circumference of each wheel.

7. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 6, characterized in that: The pliers head (5) comprises a left pliers head (51), a right pliers head (52), a connecting sleeve (53), a conversion wheel set (54) and an adapter (55); the left pliers head (51) and the right pliers head (52) are rotatably connected to the adapter (55) respectively; the adapter (55) is rotatably connected to the connecting sleeve (53); the connecting sleeve (53) is fixed on the connecting rod (4); the conversion wheel set (54) is arranged at the front end of the connecting sleeve (53) for tensioning and changing the direction of the transmission wire (13).

8. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 7, characterized in that: The left actuating wheel (2111) and the right actuating wheel (2112) both comprise a wheel hub (31), a connecting gear (33) arranged in the wheel hub (31), a locking pin (35) arranged at the bottom of the wheel hub (31), and a handle (32) arranged on the circumferential surface of the wheel hub (31); a wire groove (34) is provided at the side end of the wheel hub (31); the handle (32) is sleeved in an actuating rod of the actuating portion (3); and the left actuating wheel (2111) and the right actuating wheel (2112) are meshed via the connecting gear (33).

9. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 8, characterized in that: The transmission wire (13) comprises a right opening transmission wire (131) for controlling the right clamp head (52) to rotate rightward, a left opening transmission wire (132) for controlling the left clamp head (51) to rotate leftward, a right closing transmission wire (133) for controlling the right clamp head (52) to rotate leftward, and a left closing transmission wire (134) for controlling the left clamp head (51) to rotate rightward; Both ends of each transmission wire (13) are riveted with cylindrical joints and one end is clamped onto the locking column (35). The transmission wire (13) is first tensioned and redirected by the wheels corresponding to the first tensioning wheel group (2121) and the first direction-changing wheel group (2122), and then tensioned and redirected for a second time by the wheels corresponding to the second tensioning wheel group (2123) and the second direction-changing wheel group (2124). It is then guided to the clamp head (5) through the wheel group provided on the bow arm (23) and connected with the other end of the transmission wire (13).

10. The hand-controlled multi-degree-of-freedom surgical forceps according to claim 4, characterized in that: The first locking assembly (224) and the second locking assembly (225) both comprise a fixed plate (2201), two movable clamps (2202) are provided on the fixed plate (2201), the ends of the two movable clamps (2202) clamp a locking gear (2203), a moving part (2204) is provided between the two movable clamps (2202), a spring (2205) is provided at the tail of the moving part (2204), and a limiting shaft (2206) is provided between the fixed plate (2201) and the moving part (2204).

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