Multi-degree-of-freedom angle-rigidity-adjustable handheld release forceps for arthroscopic surgery

Abstract

The invention discloses multi-degree-of-freedom angle-rigidity-adjustable handheld release forceps for arthroscopic surgery, which comprise a shell, a continuous body section is arranged at one end of the shell, a far-end sleeve is mounted at one end, far away from the shell, of the continuous body section, and the far-end sleeve is connected with release forceps through a pin I; a left-right bending control mechanism and an up-down bending control mechanism which are used for controlling the continuous body section to bend are arranged in the shell; a variable stiffness control mechanism is arranged in the shell and is used for limiting the left-right bending control mechanism and the up-down bending control mechanism; the bottom of the shell is provided with an opening and closing mechanism used for controlling opening and closing of the releasing pincers. The multi-degree-of-freedom design is adopted, through independent control of the rear-end knob and the top knob, bending adjustment of a continuous body section is achieved, and the hip joint and other complex anatomical structures can be adapted; through the arrangement of the variable stiffness control mechanism, rapid stiffness locking is achieved after angle adjustment, and misoperation caused by loosening or angle deviation in surgical operation is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of surgical robots, and in particular to a handheld releasing forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery. Background Art

[0002] Arthroscopic surgery is a minimally invasive technique that is widely used in orthopedics, such as hip labrum repair, knee meniscus resection and ligament reconstruction. Arthroscopic surgery completes complex diagnostic and treatment operations through extremely small incisions through the guidance and operation of arthroscopic instruments. With the increasing demand for minimally invasive surgery, the design and optimization of arthroscopic surgical instruments have become the key to improving surgical efficiency and safety.

[0003] At present, most surgical tools used in arthroscopic surgery, including release forceps, are rigid straight rod type, and their structure usually includes a handle, a transmission rod and an end operating jaw. This design can stably complete the grasping, cutting and release operations of soft tissue while ensuring rigid transmission. However, due to the limitation of the rigid structure, its flexibility is poor, especially when facing the complex anatomical structure of the joint cavity, traditional release forceps often have difficulty reaching the blind spot of the field of vision, which limits the scope of operation of the operation and increases the difficulty and time of the operation.

[0004] In order to solve the problem of insufficient flexibility of rigid instruments, some improved release forceps have tried to introduce angle adjustment functions in recent years. For example, by adding a single-degree-of-freedom joint at the end, the jaws are allowed to rotate within a certain range. This improved design improves the flexibility of the instrument, enabling it to adapt to more complex joint cavity structures. However, this single-degree-of-freedom adjustment design still faces the following limitations in practical applications: first, the adjustment angle range is small and multi-directional operation cannot be achieved; second, there is a lack of a rigidity fixing mechanism during the operation, and the instrument may become loose or offset during operation, thus affecting the accuracy of the operation.

[0005] In addition to the improvement of traditional rigid instruments, continuous robotic technology has shown great potential in the field of endoscopic surgery in recent years. This type of robot adopts flexible, rigid or hybrid structure, and realizes the bending and precise positioning of complex paths through multi-degree-of-freedom adjustment. The rigid joint design and driving method of continuous robots have continuously expanded their application scope in minimally invasive surgery. However, the existing continuous robot structures are mostly used for soft tissue surgeries such as the digestive tract or sinuses, and have not yet been specifically optimized for arthroscopic surgery scenarios. In arthroscopic surgery, the instrument needs to have a high rigidity to complete the release operation, and it is also necessary to flexibly adjust the angle in a small anatomical space, which puts higher requirements on the rigidity and flexibility balance of the continuous robot.

[0006] Therefore, a hand-held releasing forceps which can manually adjust the bending angle and achieve rigidity fixation is proposed, which is suitable for arthroscopic surgery. Summary of the invention

[0007] The purpose of the present invention is to provide a hand-held releasing forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery, so as to solve the problems existing in the above-mentioned prior art.

[0008] To achieve the above-mentioned purpose, the present invention provides a handheld release forceps with multi-degree-of-freedom and adjustable angle stiffness for arthroscopic surgery, comprising a shell, a continuous body segment is provided at one end of the shell, a distal sleeve is installed at the end of the continuous body segment away from the shell, and the distal sleeve is connected to the release forceps via a pin; a left and right bending control mechanism and an up and down bending control mechanism for controlling the bending of the continuous body segment are provided inside the shell; a variable stiffness control mechanism is provided inside the shell, and the variable stiffness control mechanism is used to limit the left and right bending control mechanism and the up and down bending control mechanism; an opening and closing mechanism for controlling the opening and closing of the release forceps is provided at the bottom of the shell.

[0009] Preferably, the left and right bending control mechanism includes a top knob, a reserved hole No. 2 is opened on the top of the shell, and the top knob extends out of the shell through the reserved hole No. 2; a gear is fixedly sleeved on the bottom end of the top knob, and a protruding cylinder No. 2 is fixedly connected to the inner bottom wall of the shell in the vertical direction, and the top knob is slidably sleeved on the outer side of the protruding cylinder No. 2; a left and right bending drive wire is wound around the outer wall of the top knob, and the two ends of the left and right bending drive wire are respectively fixedly connected to the left and right sides of the continuous body segment close to one end of the distal sleeve.

[0010] Preferably, the up and down bending control mechanism includes a rear end knob, and a reserved hole is opened at one end of the shell away from the continuous body segment, and the rear end knob extends out of the shell through the reserved hole; a protruding cylinder is fixedly connected to the inner side wall of the shell in the horizontal direction, and a gear shaft is fixedly sleeved on the middle part of the rear end knob, and the gear shaft is slidably sleeved on the protruding cylinder; a transmission gear is rotatably connected inside the shell, and the transmission gear is meshed with the rear end knob, and the rear end knob does not contact the gear; an upper and lower bending drive wire is wound around the gear shaft, and the two ends of the upper and lower bending drive wire are respectively fixedly connected to the upper and lower sides of the continuous body segment close to one end of the distal sleeve.

[0011] Preferably, the transmission gear is slidably mounted on the top knob, and the transmission gear is located above the gear; a long pad is provided between the transmission gear and the gear, the long pad is fixedly connected to the outer shell, and the long pad is used to support the transmission gear.

[0012] Preferably, the variable stiffness control mechanism includes a button, which is a T-shaped structure; a reserved hole three is opened at the bottom of the shell, the bottom of the button extends out of the shell through the reserved hole three, and the bottom of the button is slidably arranged in the reserved hole three; a clamping baffle is fixedly connected to the top inner side of the shell, the top of the button is located on the side of the clamping baffle close to the continuous body segment, and the top of the button is limitedly matched with the clamping baffle; a spring is sleeved on one end of the button close to the reserved hole one, and a boss is fixedly connected to the bottom inner side of the shell, the boss is arranged on the side of the clamping baffle away from the continuous body segment, and the two ends of the spring are respectively abutted against the boss and the clamping baffle; both gear two and the transmission gear are limited by the button.

[0013] Preferably, one end of the button close to the reserved hole 1 is in a conical notch shape.

[0014] Preferably, the loosening pliers include an upper pliers and a lower pliers, the lower pliers being rotatably connected to the distal sleeve via the pin 1; the upper pliers are fixedly connected to the pin 2, the upper pliers being rotatably connected to the lower pliers via the pin 2, and the opening and closing mechanism is in transmission cooperation with the upper pliers.

[0015] Preferably, the opening and closing mechanism includes a rear handle, a front handle and a release pliers driving wire, a reserved hole four is provided at the bottom of the shell, the rear handle and the front handle both extend into the shell through the reserved hole four, a protruding cylinder three is fixedly connected to the inner wall of the shell in the horizontal direction, the rear handle is fixedly sleeved on the protruding cylinder three, and the front handle is slidably sleeved on the protruding cylinder three; the release pliers driving wire is fixedly wound around the pin two, and the two ends of the release pliers driving wire are respectively fixedly connected to the rear handle and the front handle.

[0016] Preferably, the continuous body segment has two holes at one end close to the distal sleeve, and the two holes are symmetrically arranged. The release forceps drive wire passes through the holes in sequence and is fixedly connected to the second pin.

[0017] Preferably, a reserved hole five is opened at one end of the shell close to the continuous body segment, the continuous body segment is installed on the shell through the continuous body segment five, and the shell is connected with the continuous body segment through the continuous body segment five.

[0018] Compared with the prior art, the present invention has the following advantages and technical effects:

[0019] 1. Improve operational flexibility:

[0020] The present invention adopts a multi-degree-of-freedom design, and realizes the bending adjustment of continuous body segments through independent control of the rear knob and the top knob, which can adapt to complex anatomical structures such as the hip joint. Compared with traditional single-degree-of-freedom or rigid straight-rod release forceps, it can flexibly reach the blind spot of the visual field, significantly improving the surgical operation range and adaptability.

[0021] 2. Enhanced operational stability:

[0022] The present invention introduces a stiffness adjustment and fixing mechanism, controls the gear locking by a button, and realizes rapid stiffness locking after the angle is adjusted, thereby avoiding misoperation caused by looseness or angle deviation during surgical operation.

[0023] 3. Improve surgical accuracy and efficiency:

[0024] The combination of multi-degree-of-freedom adjustment of the continuous body segment and the stable stiffness locking function makes the positioning and adjustment of surgical instruments faster and more accurate. Compared with the prior art, the present invention reduces the number of repeated adjustments of surgical instruments, reduces the operation time, improves the operation efficiency, and helps to reduce patient trauma and postoperative recovery time.

[0025] 4. Optimize human-computer interaction design:

[0026] The present invention adopts an ergonomic knob control design, which is simple and intuitive to operate, conforms to the inertial thinking logic of doctors, and greatly reduces the learning cost.

[0027] 5. Strong applicability:

[0028] The size of the invention is compact, can adapt to the needs of narrow joint cavity operations, and has good adaptability. It is not only limited to hip arthroscopy surgery scenarios, but can also be widely used in knee arthroscopy, shoulder arthroscopy and other scenarios.

[0029] 6. Save resources and reduce costs:

[0030] The present invention eliminates the complicated external driving mechanism through the integrated handheld design, reduces the manufacturing and maintenance costs, and has higher economic efficiency and clinical promotion value compared with traditional rigid instruments or continuum robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a front view of the present invention;

[0034] Figure 3 It is an explosion schematic diagram of the present invention;

[0035] Figure 4 is a cross-sectional view of the present invention;

[0036] Figure 5 It is a front cross-sectional view of the present invention;

[0037] Figure 6 It is a schematic diagram of the structure of the housing of the present invention;

[0038] Figure 7 It is a structural schematic diagram of the release forceps of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the opening and closing mechanism of the present invention;

[0040] Fig. 9 It is a schematic diagram of the explosion of the opening and closing mechanism of the present invention;

[0041] Fig.10 This is a schematic diagram of the connection between the top knob and the housing of the present invention;

[0042] Fig.11 It is a structural schematic diagram of the left and right bending control mechanism of the present invention;

[0043] Fig.12 It is a schematic diagram of the connection between the rear end knob and the housing of the present invention;

[0044] Fig.13 It is a structural schematic diagram of the up and down bending control mechanism of the present invention;

[0045] Fig.14 It is a schematic diagram of the connection between the button and the housing of the present invention;

[0046] Fig.15 is a schematic diagram of the variable stiffness control mechanism of the present invention inside the housing;

[0047] Fig.16 It is a front view of the variable stiffness control mechanism of the present invention inside the housing;

[0048] Fig.17 It is a schematic diagram of the variable stiffness control mechanism of the present invention in a locked state;

[0049] Fig.18 It is a schematic diagram of the variable stiffness control mechanism of the present invention when it is in an unlocked state;

[0050] In the figure: 1. shell; 2. rear end knob; 3. gear shaft; 4. transmission gear; 5. upper and lower bending drive wires; 6. button; 7. clamping baffle; 8. spring; 9. continuous body segment; 10. pin one; 11. distal sleeve; 12. top knob; 13. gear; 14. left and right bending drive wires; 15. rear handle; 16. front handle; 17. release pliers drive wire; 18. pin two; 19. upper pliers; 20. lower pliers; 21. reserved hole one; 22. reserved hole two; 23. protruding cylinder one; 24. long pad; 25. protruding cylinder two; 26. boss; 27. reserved hole three; 28. reserved hole four; 30. protruding cylinder three; 31. reserved hole five. DETAILED DESCRIPTION

[0051] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0052] like Figures 1 to 18 As shown, the present invention provides a handheld releasing forceps with multi-degree-of-freedom and adjustable angle stiffness for arthroscopic surgery, comprising a shell 1, a continuous body segment 9 is arranged at one end of the shell 1, a distal sleeve 11 is installed at the end of the continuous body segment 9 away from the shell 1, and the distal sleeve 11 is connected to the releasing forceps through a pin 10; a left and right bending control mechanism and an up and down bending control mechanism for controlling the bending of the continuous body segment 9 are arranged inside the shell 1; a variable stiffness control mechanism is arranged inside the shell 1, and the variable stiffness control mechanism is used to limit the left and right bending control mechanism and the up and down bending control mechanism; an opening and closing mechanism for controlling the opening and closing of the releasing forceps is arranged at the bottom of the shell 1.

[0053] A further optimized solution is provided, in which the left and right bending control mechanism includes a top knob 12, a reserved hole 22 is provided on the top of the outer shell 1, and the top knob 12 extends out of the outer shell 1 through the reserved hole 22; a gear 13 is fixedly sleeved on the bottom end of the top knob 12, and a protruding cylinder 25 is fixedly connected to the inner bottom wall of the outer shell 1 in the vertical direction, and the top knob 12 is slidably sleeved on the outer side of the protruding cylinder 25; a left and right bending drive wire 14 is wound around the outer wall of the top knob 12, and the two ends of the left and right bending drive wire 14 are respectively fixedly connected to the left and right sides of the continuous body segment 9 close to one end of the distal sleeve 11.

[0054] A further optimized solution is provided, in which the upper and lower bending control mechanism comprises a rear end knob 2, and a reserved hole 21 is provided at one end of the shell 1 away from the continuous body segment 9, through which the rear end knob 2 extends out of the shell 1; a protruding cylinder 23 is fixedly connected to the inner side wall of the shell 1 in the horizontal direction, and a gear shaft 3 is fixedly sleeved in the middle part of the rear end knob 2, and the gear shaft 3 is slidably sleeved on the protruding cylinder 23; a transmission gear 4 is rotatably connected inside the shell 1, and the transmission gear 4 is meshed with the rear end knob 2, and the rear end knob 2 does not contact the gear 13; an upper and lower bending drive wire 5 is wound around the gear shaft 3, and the two ends of the upper and lower bending drive wire 5 are respectively fixedly connected to the upper and lower sides of the continuous body segment 9 close to the distal sleeve 11.

[0055] According to a further optimized solution, the transmission gear 4 is slidably mounted on the top knob 12, and the transmission gear 4 is located above the gear 13; a long pad 24 is provided between the transmission gear 4 and the gear 13, and the long pad 24 is fixedly connected to the outer shell 1, and the long pad 24 is used to support the transmission gear 4.

[0056] A further optimized solution is provided, in which the variable stiffness control mechanism includes a button 6, which is a T-shaped structure; a reserved hole three 27 is provided at the bottom of the shell 1, and the bottom of the button 6 extends out of the shell 1 through the reserved hole three 27, and the bottom of the button 6 is slidably arranged in the reserved hole three 27; a clamping baffle 7 is fixedly connected to the top of the inner side of the shell 1, and the top of the button 6 is located on the side of the clamping baffle 7 close to the continuous body section 9, and the top of the button 6 is limitedly matched with the clamping baffle 7; a spring 8 is sleeved on one end of the button 6 close to the reserved hole 1 21, and a boss 26 is fixedly connected to the bottom of the inner side of the shell 1, and the boss 26 is arranged on the side of the clamping baffle 7 away from the continuous body section 9, and the two ends of the spring 8 are respectively in contact with the boss 26 and the clamping baffle 7; the gear 13 2 and the transmission gear 4 are both limited by the button 6.

[0057] According to a further optimization scheme, one end of the button 6 close to the reserved hole 21 is in a conical notch shape.

[0058] According to a further optimization scheme, the loosening pliers include an upper pliers 19 and a lower pliers 20. The lower pliers 20 is rotatably connected to the distal sleeve 11 via a pin 10. A pin 2 18 is fixedly connected to the upper pliers 19. The upper pliers 19 is rotatably connected to the lower pliers 20 via the pin 2 18. The opening and closing mechanism cooperates with the upper pliers 19 in transmission.

[0059] A further optimized solution is provided, in which the opening and closing mechanism includes a rear handle 15, a front handle 16 and a loosening pliers driving wire 17. A reserved hole four 28 is provided at the bottom of the outer shell 1, and the rear handle 15 and the front handle 16 are both extended into the outer shell 1 through the reserved hole four 28. A protruding cylinder three 30 is fixedly connected to the inner wall of the outer shell 1 in the horizontal direction, the rear handle 15 is fixedly sleeved on the protruding cylinder three 30, and the front handle 16 is slidably sleeved on the protruding cylinder three 30; the loosening pliers driving wire 17 is fixedly wound around the pin two 18, and the two ends of the loosening pliers driving wire 17 are respectively fixedly connected to the rear handle 15 and the front handle 16.

[0060] To further optimize the solution, two holes are formed at one end of the continuous body section 9 close to the distal sleeve 11 , and the two holes are symmetrically arranged. The release forceps drive wire 17 passes through the holes in turn and is fixedly connected to the pin 2 18 .

[0061] According to a further optimization scheme, a reserved hole 5 31 is opened at one end of the shell 1 close to the continuous body segment 9, the continuous body segment 9 is installed on the shell 1 through the continuous body segment 95, and the shell 1 is connected with the continuous body segment 9 through the continuous body segment 95.

[0062] The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery provided by the present invention are used as follows:

[0063] Specific operation of left and right side adjustment:

[0064] The left and right bending drive wires 14 are tightly sleeved on the top knob 12 and the distal sleeve 11. Therefore, when the top knob 12 is rotated, the left and right lengths of the left and right bending drive wires 14 will change under the action of friction. For example, when the top knob 12 is rotated counterclockwise, the left and right bending drive wires 14 passing through the left side of the continuous body segment 9 will be more bypassed around the top knob 12 and brought to the right side, thereby allowing the continuous body segment 9 to bend to the left; this also conforms to the human body operation logic.

[0065] Specific operation of upper and lower side adjustment:

[0066] The up and down bending drive wire 5 is tightly sleeved on the gear shaft 3 and the distal sleeve 11, so when the rear end knob 2 is rotated, the rear end knob 2 drives the transmission gear 4 to rotate, and under the action of friction, the up and down length of the up and down bending drive wire 5 will change. For example, when the rear end knob 2 is rotated upward, the up and down bending drive wire 5 passing through the upper side of the continuous body segment 9 will be more bypassed by the gear shaft 3 and brought to the lower side, thereby allowing the continuous body segment 9 to bend upward; at the same time, it also conforms to the human body operation logic.

[0067] Specific operation of changing stiffness:

[0068] The button 6 blocks the rotation of the transmission gear 4 and the gear 13. Therefore, the rigidity of the whole structure is locked and bending cannot occur. When the bending angle of the continuous body segment 9 needs to be adjusted, the button 6 is pushed forward with the thumb. At this time, the spring 8 is blocked by the compression baffle 7, thereby compressing the spring 8. The distal conical structure of the button 6 withdraws from the tooth grooves of the transmission gear 4 and the gear 13, and the rear end knob 2 and the top knob 12 can be operated and rotated, thereby adjusting the bending angle of the continuous body segment 9. After the angle adjustment is completed, the button 6 is released. Under the action of the spring 8, the conical structure at the distal end of the button 6 is pushed into the tooth grooves of the transmission gear 4 and the gear 13. The transmission gear 4 and the gear 13 are locked at the same time, thereby completing the locking of the bending angle and realizing the functions of angle adjustment and variable rigidity.

[0069] Specific operation of opening and closing the jaws of the release pliers:

[0070] The release forceps driving wire 17 passes through the center of the continuous body section 9 and is fixed at the distal pin 2 18. The pin 2 18 is coaxially fixed with the upper forceps 19, the lower forceps 20 itself does not move, and the rear handle 15 is fixed and does not move. Therefore, when the front handle 16 and the release forceps driving wire 17 pull the pin 2 18 to rotate, the upper forceps 19 will also be driven to rotate around the pin 2 18, thereby achieving the purpose of opening and closing up and down.

[0071] The above are only preferred specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery, characterized in that: The invention comprises a shell (1), one end of which is provided with a continuous body segment (9), an end of which is remote from the shell (1) and is provided with a distal sleeve (11), the distal sleeve (11) being connected to a release clamp via a pin (10); a left-right bending control mechanism and an up-down bending control mechanism for controlling the bending of the continuous body segment (9) are provided inside the shell (1); a variable stiffness control mechanism is provided inside the shell (1), the variable stiffness control mechanism is used to limit the left-right bending control mechanism and the up-down bending control mechanism; and an opening and closing mechanism for controlling the opening and closing of the release clamp is provided at the bottom of the shell (1).

2. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 1, characterized in that: The left-right bending control mechanism comprises a top knob (12), a reserved hole (22) is provided at the top of the housing (1), and the top knob (12) extends out of the housing (1) through the reserved hole (22); a gear (13) is fixedly sleeved on the bottom end of the top knob (12), a protruding cylinder (25) is fixedly connected to the inner bottom wall of the housing (1) in a vertical direction, and the top knob (12) is slidably sleeved on the outer side of the protruding cylinder (25); a left-right bending driving wire (14) is wound around the outer wall of the top knob (12), and the two ends of the left-right bending driving wire (14) are respectively fixedly connected to the left and right sides of the continuous body segment (9) close to one end of the distal sleeve (11).

3. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 2, characterized in that: The up-down bending control mechanism comprises a rear end knob (2); a reserved hole (21) is provided at one end of the housing (1) away from the continuous body section (9); the rear end knob (2) protrudes out of the housing (1) through the reserved hole (21); a protruding cylinder (23) is fixedly connected to the inner side wall of the housing (1) in the horizontal direction; a gear shaft (3) is fixedly sleeved in the middle of the rear end knob (2); the gear shaft (3) is slidably sleeved on the protruding cylinder (23); a transmission gear (4) is rotatably connected inside the housing (1); the transmission gear (4) is meshed with the rear end knob (2), and the rear end knob (2) does not contact the gear (13); an up-down bending driving wire (5) is wound around the gear shaft (3), and the two ends of the up-down bending driving wire (5) are respectively fixedly connected to the upper and lower sides of the continuous body section (9) near one end of the distal sleeve (11).

4. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 3, characterized in that: The transmission gear (4) is slidably mounted on the top knob (12), and the transmission gear (4) is located above the gear (13); a long pad (24) is provided between the transmission gear (4) and the gear (13), and the long pad (24) is fixedly connected to the housing (1), and the long pad (24) is used to support the transmission gear (4).

5. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 3, characterized in that: The variable stiffness control mechanism comprises a button (6), and the button (6) is a T-shaped structure; a reserved hole (27) is provided at the bottom of the housing (1), the bottom of the button (6) protrudes out of the housing (1) through the reserved hole (27), and the bottom of the button (6) is slidably arranged in the reserved hole (27); a clamping baffle (7) is fixedly connected to the top of the inner side of the housing (1), the top of the button (6) is located on the side of the clamping baffle (7) close to the continuous body segment (9), and the button The top of the button (6) is limitedly matched with the clamping baffle (7); a spring (8) is sleeved on one end of the button (6) close to the reserved hole (21); a boss (26) is fixedly connected to the inner bottom of the housing (1); the boss (26) is arranged on the side of the clamping baffle (7) away from the continuous body section (9); the two ends of the spring (8) are respectively in contact with the boss (26) and the clamping baffle (7); the gear (13) and the transmission gear (4) are both limited by the button (6).

6. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 5, characterized in that: One end of the button (6) close to the reserved hole (21) is in the shape of a conical notch.

7. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 1, characterized in that: The release forceps comprise an upper forceps (19) and a lower forceps (20); the lower forceps (20) is rotatably connected to the distal sleeve (11) via the pin 1 (10); the upper forceps (19) is fixedly connected to the pin 2 (18); the upper forceps (19) is rotatably connected to the lower forceps (20) via the pin 2 (18); and the opening and closing mechanism is in transmission cooperation with the upper forceps (19).

8. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 7, characterized in that: The opening and closing mechanism comprises a rear handle (15), a front handle (16) and a loosening forceps driving wire (17); a reserved hole four (28) is provided at the bottom of the housing (1); the rear handle (15) and the front handle (16) both extend into the housing (1) through the reserved hole four (28); a protruding cylinder three (30) is fixedly connected to the inner wall of the housing (1) in a horizontal direction; the rear handle (15) is fixedly sleeved on the protruding cylinder three (30); the front handle (16) is slidably sleeved on the protruding cylinder three (30); the loosening forceps driving wire (17) is fixedly wound around the pin two (18), and the two ends of the loosening forceps driving wire (17) are respectively fixedly connected to the rear handle (15) and the front handle (16).

9. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 1, characterized in that: The continuous body section (9) has two holes at one end close to the distal sleeve (11), and the two holes are symmetrically arranged. The release forceps drive wire (17) passes through the holes in sequence and is fixedly connected to the second pin (18).

10. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 1, characterized in that: A reserved hole five (31) is provided at one end of the shell (1) close to the continuous body segment (9); the continuous body segment (9) is mounted on the shell (1) via the continuous body segment (9) five, and the shell (1) is connected to the continuous body segment (9) via the continuous body segment (9) five.

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