Multi-degree-of-freedom flexible arthroscope bite forceps

Abstract

The invention relates to the technical field of medical apparatus and instruments, and discloses a multi-degree-of-freedom flexible arthroscope bite forceps which comprise a handle shell, a rigid connecting pipe is fixedly connected to the front end of the handle shell, and a driving handle is hinged to the rear end of the handle shell; the bite forceps assembly comprises a flexible pipe and a bite forceps head, one end of the flexible pipe is connected with the rigid connecting pipe, the bite forceps head is detachably connected with the other end of the flexible pipe, and the driving handle is connected with the bite forceps head and is configured to enable the bite forceps head to be meshed when the driving handle is pinched; the control assembly comprises two control pieces, the two control pieces are arranged in the handle shell respectively, the top ends of the two control pieces stretch out of the handle shell to be fixedly connected with a rotary knob, and the two control pieces are connected with the bite forceps head respectively and are configured to drive the bite forceps head to conduct vertical / transverse angle adjustment when the rotary knob is manually screwed. Multi-degree-of-freedom rotation operation of the arthroscope bite forceps is achieved, the operation flexibility of surgeons is guaranteed, and the operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, in particular to a multi-freedom flexible arthroscopic bite forceps. Background Art

[0002] Hip arthroscopy technology uses minimally invasive incisions to directly observe the entire hip joint and surrounding structures, achieve precise treatment of diseases, and solve the diagnosis and treatment of some diseases that cannot be completed by conventional surgery. However, this technology is a more difficult surgical technique in arthroscopy. The main difficulty is that the hip joint is the deepest joint in the human body. Not only is the anatomical part deep, but the joint space is small, which makes it difficult to expose under arthroscopy, and the technical requirements of the surgeon are high. In the process of performing a series of operations on the hip joint, it is usually necessary to use a bite forceps that matches the arthroscope to grab and cut tissue during the operation.

[0003] Traditional arthroscopic forceps usually adopt a rigid design, and the connecting rod and the clamp head of the forceps are fixed rigid structures. Although this design performs well in terms of stability, it lacks flexibility when operating in complex joints. It can usually only achieve simple opening and closing movements, and cannot achieve multi-degree-of-freedom rotation operations, such as up and down, left and right rotation. This limits the surgeon's operational flexibility in complex operations, requiring frequent adjustments to the position of the instrument during operation, increasing the difficulty and time of the operation. Although the surgical robot has multi-degree-of-freedom control capabilities at the clamp head, its connecting rod is a rigid structure and cannot pass through narrow and curved areas. The hip joint is a ball-and-socket structure, and the space in the hip joint cavity is extremely limited. Therefore, in the field of hip joint surgery, a flexible and smaller diameter surgical instrument is needed. It also requires motor control. In addition, its complex structure and high cost limit its popularization and application.

[0004] Therefore, there is an urgent need for a multi-degree-of-freedom flexible arthroscopic forceps to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom flexible arthroscopic forceps to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides the following solution: The present invention provides a multi-degree-of-freedom flexible arthroscopic bite forceps, comprising:

[0007] A handle shell, wherein a rigid connecting tube is fixedly connected to the front end of the handle shell, and an active handle is hingedly connected to the rear end of the handle shell;

[0008] A bite clamp assembly, comprising a flexible tube and a bite clamp head, wherein one end of the flexible tube is connected to the rigid connecting tube, the bite clamp head is detachably connected to the other end of the flexible tube, the active handle is connected to the bite clamp head, and is configured such that the bite clamp head bites when the active handle is pinched;

[0009] The control component includes two control components, which are respectively arranged in the handle shell, and the top ends of which extend out of the handle shell and are fixedly connected to a knob. The two control components are respectively connected to the bite forceps head, and are configured to drive the bite forceps head to adjust the vertical / lateral angle when the knob is manually turned.

[0010] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, the flexible tube includes: a plurality of snake bone units, the snake bone units include a spacer plate and a snake bone shell, the spacer plate and the snake bone shell are both provided with a plurality of holes, the plurality of holes on the spacer plate correspond one to one with the plurality of holes on the snake bone shell, and are connected by rivets, protrusions and grooves are respectively provided at both ends of the snake bone shell, and two adjacent snake bone shells are connected by inlaying the protrusions and the grooves.

[0011] According to a multi-degree-of-freedom flexible arthroscopic bite forceps provided by the present invention, the bite forceps head comprises:

[0012] A rigid head of the clamp joint is connected to the snake bone housing at the front end by threads;

[0013] A vertical rotation mechanism, one end of which is rotationally connected to the rigid head of the clamp joint, and the other end of which is rotationally connected to a lateral rotation mechanism;

[0014] The clamp head comprises an upper clamp and a lower clamp, wherein the upper clamp and the lower clamp are hinged on the lateral rotation mechanism through a hinge structure.

[0015] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, the control member comprises:

[0016] A cylinder fixedly connected to the bottom end of the handle housing;

[0017] A rotating shaft is rotatably connected in the cylinder, a winding wheel is mounted on the rotating shaft via a fastener, and a top end of the rotating shaft extends out of the handle housing and is fixedly connected to the knob;

[0018] One end of the rope is wound around the winding wheel, and the other end of the rope passes through the rigid connecting tube and the flexible tube in sequence to be connected with the vertical rotating mechanism and the horizontal rotating mechanism.

[0019] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, a blocking spring is arranged in the cylinder, both ends of the blocking spring are respectively fixedly connected with elbows, a protrusion is arranged at the bottom of the rotating shaft, and the protrusion contacts the elbow when the rotating shaft rotates.

[0020] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, the front end of the rigid head of the forceps joint is fixedly connected to a fixed rod, the vertical rotation mechanism is rotationally connected to the fixed rod, and a first guide wheel is arranged on the vertical rotation mechanism, wherein a rope is wound around the first guide wheel.

[0021] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, the lateral rotation mechanism is rotatably connected to the lateral rotation mechanism through a connecting shaft, a second guide wheel is arranged on the lateral rotation mechanism, third guide wheels are respectively arranged at both ends of the vertical rotation mechanism and on both sides of the first guide wheel, and another rope is wound around the third guide wheel and the second guide wheel.

[0022] According to a multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, a groove is provided on the lateral rotation mechanism, and sliding grooves are provided on the two inner side walls opposite to the groove. An active hinge is slidably connected between the two sliding grooves, a cross bar is fixedly connected to the front end of the groove, the upper forceps and the lower forceps are respectively connected to the active hinge, one end of a first spring is fixedly connected in the groove, and the other end of the first spring is fixedly connected to the active hinge.

[0023] According to the multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, the active handle is hinged to the handle of the handle housing through a hinge, a second spring is arranged between the active handle and the handle housing, and two ends of the second spring are fixedly connected to the handle housing and the active handle respectively;

[0024] One end of a rope is arranged on the active handle, and a fourth guide wheel and a guide ring are arranged on the top and bottom ends of the vertical rotation mechanism. The other end of the rope passes through the fourth guide wheel and the guide ring in sequence and is fixedly connected with the active hinge.

[0025] According to the multi-degree-of-freedom flexible arthroscopic forceps provided by the present invention, a plurality of through holes are provided on the rigid head of the forceps joint, and the through holes are adapted to the ropes.

[0026] Compared with the prior art, the present invention has the following advantages and technical effects:

[0027] The present invention provides a multi-degree-of-freedom flexible arthroscopic forceps, in which the handle shell serves as the support and shell of the entire device, carries all internal structures and manual operation components, and provides a stable handheld interface, which is convenient for the surgeon to operate for a long time. There is a rigid connecting tube between the handle shell and the flexible tube, which can be used to cooperate with the matching arthroscopic outer tube and fix it. The flexible tube serves as a flexible channel connecting the handle part and the joint part of the forceps, and is used to enable the arthroscopic forceps to bend in a complex hip joint so as to reach the surgical site. For the control of the up and down and left and right rotation of the forceps joint, the control parts are driven to rotate by turning two knobs, and the joints that rotate up and down and left and right are controlled by the two control parts respectively. At the same time, the rotation can only be controlled when the doctor manually rotates the knob, which greatly improves the safety of operating the forceps during surgery, and the opening and closing of the forceps head is achieved by the provided active handle. The present application realizes the multi-degree-of-freedom rotation operation of the arthroscopic forceps, ensures the surgeon's operating flexibility, and improves the efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 For the present invention Figure 1 A partial enlarged view of the middle part;

[0031] Figure 3 For the present invention Figure 1 A partial enlarged view of point B in the middle;

[0032] Figure 4 This is a schematic diagram of the rigid head structure of the pliers joint of the present invention;

[0033] Figure 5 This is a schematic diagram of the installation state of the biting pliers head of the present invention;

[0034] Figure 6 This is a partial exploded schematic diagram of the bite forceps handle of the present invention;

[0035] Figure 7 This is a schematic diagram of the internal structure of the handle housing of the present invention;

[0036] Figure 8 The force analysis of the knob portion blocking spring of the present invention;

[0037] Fig. 9 This is a schematic diagram illustrating the bidirectional self-locking structure of the knob part of the present invention;

[0038] Fig.10 This is a schematic diagram of the wiring for executing the vertical rotation of the pliers joint of the present invention;

[0039] Fig.11 This is a schematic diagram of the wiring for executing the lateral rotation of the pliers joint of the present invention;

[0040] Fig.12 This is a schematic diagram of the connection of the hinged parts of the upper jaw and the lower jaw of the present invention;

[0041] Among them, 1. handle shell; 2. rigid connecting tube; 3. active handle; 4. knob; 5. spacer; 6. snake bone shell; 7. rivet; 8. rigid head of pliers joint; 9. vertical rotation mechanism; 10. horizontal rotation mechanism; 11. upper pliers; 12. lower pliers; 13. rotating shaft; 14. fastener; 15. winding wheel; 16. blocking spring; 17. fixing rod; 18. first guide wheel; 19. second guide wheel; 20. third guide wheel; 21. fourth guide wheel; 22. active hinge; 23. first spring; 24. hinge; 25. second spring; 26. first guide shaft; 27. second guide shaft; 28. gasket. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] Reference Figure 1-Figure 12 The present invention provides a multi-degree-of-freedom flexible arthroscopic bite forceps, comprising:

[0045] A handle shell 1, a rigid connecting tube 2 is fixedly connected to the front end of the handle shell 1, and an active handle 3 is hingedly connected to the rear end of the handle shell 1;

[0046] A bite clamp assembly, comprising a flexible tube and a bite clamp head, wherein one end of the flexible tube is connected to the rigid connecting tube 2, the bite clamp head is detachably connected to the other end of the flexible tube, an active handle 3 is connected to the bite clamp head, and is configured such that the bite clamp head bites when the active handle 3 is pinched;

[0047] The control component includes two control parts, which are respectively arranged in the handle shell 1, and the top end of the handle shell 1 is extended out and fixedly connected with a knob 4. The two control parts are respectively connected to the bite forceps head, and are configured to drive the bite forceps head to adjust the vertical / lateral angle when the knob 4 is manually turned.

[0048] Specifically, the handle shell 1 serves as the support and shell of the entire device, carrying all internal structures and manual operation components, providing a stable handheld interface for the surgeon to operate for a long time. There is a rigid connecting tube 2 between the handle shell 1 and the flexible tube, which can be used to cooperate with and fix the matching arthroscopic outer tube. The flexible tube serves as a flexible channel connecting the handle part and the forceps joint part, and is used to enable the arthroscopic forceps to bend in the complex hip joint to reach the surgical site. For the control of the up and down and left and right rotation of the forceps joint, the control parts are driven to rotate by turning the two knobs 4, and the two control parts respectively control the up and down and left and right rotation joints. At the same time, the rotation can only be controlled when the doctor manually rotates the knob 4, which greatly improves the safety of operating the forceps during surgery, and the opening and closing of the forceps head is achieved by the set active handle 3.

[0049] As an optional embodiment, the flexible tube includes: a plurality of snake bone units, the snake bone units include a partition plate 5 and a snake bone shell 6, a plurality of holes are opened on the partition plate 5 and the snake bone shell 6, the plurality of holes on the partition plate 5 correspond one to one with the plurality of holes on the snake bone shell 6, and are connected by rivets 7, protrusions and grooves are respectively provided at both ends of the snake bone shell 6, and two adjacent snake bone shells 6 are connected by inlaying the protrusions and grooves.

[0050] In one embodiment of the present invention, referring to Figure 2 Each snake tube unit is composed of a spacer 5, a snake shell 6 and a rivet 7, which are precisely shaped and matched with each other. The function of the spacer 5 is to transfer the rope that controls the clamp joint to the clamp joint part so that they will not be entangled. There are two pairs of corresponding holes of the same size at symmetrical positions on the side walls of the spacer 5 and the snake shell 6. Two rivets 7 fix the spacer 5 and the snake shell 6 through the holes, thereby forming a snake tube unit. The snake tube units are connected by inlaying the protruding arc of the previous unit with the recessed arc of the next unit.

[0051] As an optional embodiment, the bite forceps head includes: a forceps joint rigid head 8, which is connected to the front end snake bone shell 6 by threading;

[0052] A vertical rotation mechanism 9, one end of which is rotationally connected to the clamp joint rigid head 8, and the other end of which is rotationally connected to the horizontal rotation mechanism 10;

[0053] The clamp head comprises an upper clamp 11 and a lower clamp 12 , and the upper clamp 11 and the lower clamp 12 are hinged to the lateral rotation mechanism 10 through a hinge structure.

[0054] In one embodiment of the present invention, referring to Figure 3 The vertical rotation mechanism 9 is used to adjust the angle of the clamp head up and down, the horizontal rotation mechanism 10 is used to adjust the angle of the clamp head left and right, and the upper clamp 11 and the lower clamp 12 are used to clamp.

[0055] Specifically, the rigid head 8 of the forceps joint and the front end snake bone shell 6, the snake bone shell 6 and the rigid connecting tube 2, and the rigid connecting tube 2 and the handle shell 1 are all connected by threads, which are convenient for disassembly, cleaning and disinfection after surgery.

[0056] As an optional embodiment, the control member includes: a cylinder fixedly connected to the bottom end of the handle housing 1;

[0057] A rotating shaft 13 is rotatably connected in the cylinder, a winding wheel 15 is mounted on the rotating shaft 13 via a fastener 14, and the top end of the rotating shaft 13 extends out of the handle housing 1 and is fixedly connected to the knob 4;

[0058] One end of the rope is wound around the winding wheel 15, and the other end of the rope passes through the rigid connecting tube 2 and the flexible tube in sequence to be connected with the vertical rotating mechanism 9 and the horizontal rotating mechanism 10.

[0059] As an optional embodiment, a blocking spring 16 is arranged in the cylinder, and elbows are fixedly connected to both ends of the blocking spring 16. A protrusion is arranged at the bottom of the rotating shaft 13, and the protrusion contacts the elbow when the rotating shaft 13 rotates.

[0060] In one embodiment of the present invention, referring to Figure 7 , Figure 8 , Fig. 9There is a blocking spring 16 in the cylinder, which is close to the inner wall. There are elbows pointing to the center of the circle at both ends of the blocking spring 16. The cylinder is provided with a rotating shaft 13. The winding wheel 15 is sleeved outside the rotating shaft 13. The fastener 14 is screwed on the rotating shaft to fix the position of the winding wheel 15. There is a gasket 28 between the fastener 14 and the winding wheel 15 to reduce the wear of the fastener 14 caused by the friction caused by the rotation of the winding wheel 15. During assembly, the winding wheel 15 will be wound and fixed with a rope to control the rotation of the pliers joint. The blocking spring 16 is tightly attached to the cylinder due to the elastic force. Now, one of the elbows is taken as the research object to analyze the force of the spring, and the elbow a is taken as the research object. If a force Fa along the spring is applied to the elbow a from above, the spring will tend to contract. Since the other end of the spring is not fixed, when Fa is greater than the friction between the spring and the cylinder wall, the spring will rotate under the action of Fa. Conversely, if a force Fb against the spring is applied to the elbow a from below, the spring will tend to expand. The greater the force, the greater the friction that hinders the rotation of the spring, resulting in the spring not rotating no matter how large the force is. The same is true for the other elbow. When forces in different directions are applied to an elbow, the blocking spring 16 is equivalent to a friction ratchet and can only rotate in one direction, thereby achieving a two-way braking effect. When the knob 4 is manually rotated, the rotating shaft 13 will be driven to rotate. There is a cylindrical protrusion at the lower end of the rotating shaft 13. The force during rotation will be applied to the blocking spring 16 by this cylindrical protrusion. At this time, the blocking spring 16 will tend to shrink. When the manually applied force is greater than the friction between the blocking spring 16 and the inner wall of the cylinder, the rotating shaft 13 will drive the blocking spring 16 and the winding wheel 15 to rotate, and further drive the rope on the winding wheel 15 that drives the pliers joint to rotate, thereby finally completing the control of the multi-degree-of-freedom rotation of the pliers joint. However, when the end of the clamp joint encounters some resistance, this resistance will change the expected rotation angle of the clamp joint. The rotation tendency of the clamp joint will drive the corresponding rope to rotate, and the rope will further drive the winding wheel 15 to rotate. At this time, the force of the rotation of the winding wheel 15 will be applied to the blocking spring 16 through the rectangular protrusion under the winding wheel 15. The blocking spring 16 will tend to expand, and the greater the force of the rope driving the winding wheel 15 to rotate, the greater the expansion tendency of the blocking spring 16. Therefore, no matter how much resistance the clamp joint encounters, the clamp joint part will not rotate because the winding wheel 15 is braked by the blocking spring 16.

[0061] Specifically, a first guide shaft 26 and a second guide shaft 27 are further provided in the handle housing 1 , which are used to guide the ropes on the two winding wheels 15 respectively.

[0062] As an optional embodiment, the front end of the clamp joint rigid head 8 is fixedly connected to a fixed rod 17, the vertical rotation mechanism 9 is rotationally connected to the fixed rod 17, and a first guide wheel 18 is provided on the vertical rotation mechanism 9, wherein a rope is wound around the first guide wheel 18.

[0063] In one embodiment of the present invention, referring to Fig.10 , the rope is fixed on a winding wheel 15 and a first guide wheel 18, and the rope is fastened to the first guide wheel 18 of the vertical rotation mechanism 9. During the actual assembly, the appropriate hexagonal screw should be screwed into the gap between the rope and the vertical rotation mechanism 9 to achieve the effect of fastening the rope. The rope then returns to the winding wheel 15 of the knob part along the rigid head 8 of the clamp joint and the spacer 5. It is known that both ends of the entire rope that controls the up and down rotation of the clamp joint are fixed on the winding wheel 15. When the knob 4 is manually rotated, the winding wheel 15 is driven to rotate, thereby shortening one end of the rope and lengthening the other end. Since the rope is fastened to the guide wheel of the vertical rotation mechanism 9, the vertical rotation mechanism 9 of the clamp joint part will be driven to rotate up and down.

[0064] As an optional embodiment, the transverse rotation mechanism 10 is rotatably connected to the transverse rotation mechanism 10 via a connecting shaft, a second guide wheel 19 is provided on the transverse rotation mechanism 10, third guide wheels 20 are respectively provided at both ends of the vertical rotation mechanism 9 and on both sides of the first guide wheel 18, and another rope is wound around the third guide wheel 20 and the second guide wheel 19.

[0065] In one embodiment of the present invention, referring to Fig.11 The rope passes through the third guide wheel 20 and is connected to the second guide wheel 19. In the actual assembly process, the hexagonal screw is screwed in to tighten the rope, and then it returns along the same path on the other side. The two ends of the rope that controls the left and right rotation of the clamp joint are fixed on another winding wheel 15. When the knob 4 is manually rotated, the knob 4 drives the winding wheel 15 to rotate, thereby shortening one end of the rope and lengthening the other end. Since the rope is fastened to the guide wheel of the vertical rotation mechanism 9, the horizontal rotation mechanism 10 of the clamp joint part will be driven to rotate left and right.

[0066] As an optional embodiment, a groove is provided on the lateral rotation mechanism 10, and sliding grooves are provided on the two inner walls opposite to the groove. An active hinge 22 is slidably connected between the two sliding grooves, a cross bar is fixedly connected to the front end of the groove, the upper clamp 11 and the lower clamp 12 are respectively connected to the active hinge 22, one end of a first spring 23 is fixedly connected in the groove, and the other end of the first spring 23 is fixedly connected to the active hinge 22.

[0067] In one embodiment of the present invention, referring to Fig.12The active hinge 22 is used to control the engagement of the jaw joint. The active hinge 22 slides in cooperation with the slide groove on the inner wall of the groove. A horizontal fixed round rod is arranged in the groove as a fixed hinge of the upper jaw 11 and the lower jaw 12. The active hinge 22 moves backward and the passive hinge moves toward the middle, thereby driving the upper jaw 11 and the lower jaw 12 to engage. When the upper jaw 11 and the lower jaw 12 are in the open state, the first spring 23 is in its original length. When it is in the closed state, the first spring 23 is in an extended state, thereby ensuring that the upper jaw 11 and the lower jaw 12 can automatically return to the open state after being closed and released.

[0068] As an optional embodiment, the active handle 3 is hinged to the handle of the handle housing 1 through a hinge 24, a second spring 25 is provided between the active handle 3 and the handle housing 1, and both ends of the second spring 25 are fixedly connected to the handle housing 1 and the active handle 3 respectively;

[0069] One end of a rope is provided on the active handle 3, and a fourth guide wheel 21 and a guide ring are provided at the top and bottom ends of the vertical rotation mechanism 9. The other end of the rope passes through the fourth guide wheel 21 and the guide ring in sequence and is fixedly connected to the active hinge 22.

[0070] In one embodiment of the present invention, referring to Figure 6 , Fig.12 The active handle 3 is connected to the handle housing 1 through a hinge 24, and the second spring 25 provides the force for resetting the active handle 3. When the active handle 3 is pinched, the active hinge 22 is driven to slide backward through the set rope, thereby driving the upper jaw 11 and the lower jaw 12 to close, thereby realizing the control of the upper jaw 11 and the lower jaw 12.

[0071] As an optional implementation, a plurality of through holes are provided on the rigid head 8 of the pliers joint, and the through holes are adapted to fit the ropes.

[0072] In one embodiment of the present invention, referring to Figure 4 The end surface of the rigid head 8 of the clamp joint is provided with a plurality of through holes so that the rope driving the clamp joint to rotate and bite can accurately reach the corresponding position.

[0073] Specifically, the width of the hip joint space of a normal adult is 4-5 mm, and the diameter of the hose designed in the present invention can reach 3 mm, which can easily enter the hip joint space for surgical operations during hip joint surgery.

[0074] Since the rotation radius of the forceps joint is small, and the friction generated by the spacer 5, guide wheel, etc. when the rope passes from the knob 4 to the forceps joint is small, during the rope movement, considering the need to overcome the resistance torque of the joint head, as well as any possible friction and other loads, it is calculated that the doctor only needs to apply a small force at the knob 4 to drive each joint to rotate, and the rope transmission efficiency is close to 100%.

[0075] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0076] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-degree-of-freedom flexible arthroscopic forceps, characterized in that: include: A handle shell (1), wherein a rigid connecting tube (2) is fixedly connected to the front end of the handle shell (1), and an active handle (3) is hingedly connected to the rear end of the handle shell (1); A biting forceps assembly, comprising a flexible tube and a biting forceps head, wherein one end of the flexible tube is connected to the rigid connecting tube (2), the biting forceps head is detachably connected to the other end of the flexible tube, the active handle (3) is connected to the biting forceps head, and is configured such that the biting forceps head bites when the active handle (3) is pinched; The control assembly comprises two control members, the two control members are respectively arranged in the handle housing (1), and the top ends of the control members extend out of the handle housing (1) and are fixedly connected with a knob (4), the two control members are respectively connected to the bite forceps head, and are configured to drive the bite forceps head to adjust the vertical / lateral angle when the knob (4) is manually turned.

2. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 1, characterized in that: The flexible tube comprises: a plurality of snake bone units, wherein the snake bone units comprise a spacer plate (5) and a snake bone shell (6), wherein the spacer plate (5) and the snake bone shell (6) are both provided with a plurality of holes, wherein the plurality of holes on the spacer plate (5) correspond to the plurality of holes on the snake bone shell (6) one by one, and are connected by rivets (7), wherein protrusions and grooves are respectively provided at both ends of the snake bone shell (6), and adjacent two snake bone shells (6) are connected by inlaying the protrusions and grooves.

3. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 2, characterized in that: The bite forceps head comprises: A pliers joint rigid head (8) is connected to the front end of the snake bone housing (6) through threads; A vertical rotation mechanism (9), one end of the vertical rotation mechanism (9) is rotationally connected to the clamp joint rigid head (8), and the other end of the vertical rotation mechanism (9) is rotationally connected to a lateral rotation mechanism (10); The clamp head comprises an upper clamp (11) and a lower clamp (12), wherein the upper clamp (11) and the lower clamp (12) are hingedly connected to the lateral rotation mechanism (10) via a hinge structure.

4. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 3, characterized in that: The control element comprises: A cylinder fixedly connected to the bottom end of the handle housing (1); A rotating shaft (13) is rotatably connected in the cylinder, a winding wheel (15) is mounted on the rotating shaft (13) via a fastener (14), and a top end of the rotating shaft (13) extends out of the handle housing (1) and is fixedly connected to the knob (4); One end of the rope is wound around the winding wheel (15), and the other end of the rope passes through the rigid connecting tube (2), the flexible tube and is connected to the vertical rotating mechanism (9) and the horizontal rotating mechanism (10) in sequence.

5. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 4, characterized in that: A blocking spring (16) is arranged in the cylinder, and elbows are fixedly connected to both ends of the blocking spring (16). A protrusion is arranged at the bottom of the rotating shaft (13), and when the rotating shaft (13) rotates, the protrusion contacts the elbow.

6. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 4, characterized in that: The front end of the clamp joint rigid head (8) is fixedly connected to a fixed rod (17), the vertical rotation mechanism (9) is rotationally connected to the fixed rod (17), and the vertical rotation mechanism (9) is provided with a first guide wheel (18), wherein a rope is wound around the first guide wheel (18).

7. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 6, characterized in that: The lateral rotation mechanism (10) is rotatably connected to the lateral rotation mechanism (10) via a connecting shaft, a second guide wheel (19) is provided on the lateral rotation mechanism (10), third guide wheels (20) are respectively provided at both ends of the vertical rotation mechanism (9) and on both sides of the first guide wheel (18), and another rope is wound around the third guide wheel (20) and the second guide wheel (19).

8. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 7, characterized in that: The lateral rotation mechanism (10) is provided with a groove, and the groove is provided with sliding grooves on the two inner side walls opposite to each other. An active hinge (22) is slidably connected between the two sliding grooves, and a cross bar is fixedly connected to the front end of the groove. The upper clamp (11) and the lower clamp (12) are respectively connected to the active hinge (22), and one end of a first spring (23) is fixedly connected in the groove, and the other end of the first spring (23) is fixedly connected to the active hinge (22).

9. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 8, characterized in that: The active handle (3) is hingedly connected to the handle of the handle housing (1) via a hinge (24); a second spring (25) is provided between the active handle (3) and the handle housing (1); two ends of the second spring (25) are respectively fixedly connected to the handle housing (1) and the active handle (3); One end of a rope is arranged on the active handle (3), and a fourth guide wheel (21) and a guide ring are arranged at the top and bottom ends of the vertical rotation mechanism (9), and the other end of the rope passes through the fourth guide wheel (21) and the guide ring in sequence and is fixedly connected to the active hinge (22).

10. The multi-degree-of-freedom flexible arthroscopic forceps according to claim 9, characterized in that: The pliers joint rigid head (8) is provided with a plurality of through holes, and the through holes are adapted to fit the ropes.

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