Handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery

Abstract

This invention discloses a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery. It includes a housing, a continuous segment at one end of the housing, and a distal sleeve mounted at the end of the continuous segment away from the housing. The distal sleeve is connected to the release forceps via a pin. Inside the housing are left-right bending control mechanisms and up-down bending control mechanisms for controlling the bending of the continuous segment. Inside the housing is a variable stiffness control mechanism for limiting the left-right and up-down bending control mechanisms. At the bottom of the housing is an opening and closing mechanism for controlling the opening and closing of the release forceps. This invention employs a multi-degree-of-freedom design, achieving bending adjustment of the continuous segment through independent control of the rear and top knobs, adapting to complex anatomical structures such as the hip joint. The variable stiffness control mechanism enables rapid stiffness locking after angle adjustment, preventing misoperation due to loosening or angle deviation during surgery.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery. Background Technology

[0002] Arthroscopic surgery is a minimally invasive technique widely used in orthopedics, such as hip labral repair, knee meniscus resection, and ligament reconstruction. Guided by arthroscopic instruments, arthroscopic surgery allows for complex diagnostic and therapeutic procedures to be performed through extremely small incisions. With the increasing demand for minimally invasive surgery, the design and optimization of arthroscopic surgical instruments have become crucial for improving surgical efficiency and safety.

[0003] Currently, most surgical tools used in arthroscopic surgery, including release forceps, are rigid straight-bar types. Their structure typically includes a handle, a transmission rod, and end-operating jaws. This design ensures rigid transmission while stably performing soft tissue grasping, cutting, and release operations. However, due to the limitations of the rigid structure, their flexibility is poor, especially when dealing with the complex anatomy of the joint cavity. Traditional release forceps often struggle to reach blind spots, limiting the scope of surgical manipulation and increasing the difficulty and time required for the procedure.

[0004] To address the lack of flexibility in rigid instruments, some improved release forceps have recently incorporated angle adjustment capabilities. For example, adding a single-degree-of-freedom joint at the end allows the jaws to rotate within a certain range. This improved design enhances the instrument's flexibility, 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 relatively small, preventing multi-directional manipulation; second, the lack of a rigid fixation mechanism during surgery means the instrument may loosen or shift during operation, affecting the precision of the procedure.

[0005] Beyond improvements to traditional rigid instruments, continuous robotic technology has demonstrated immense potential in endoscopic surgery in recent years. These robots employ flexible, rigid, or hybrid structures, achieving complex path bending and precise positioning through multi-degree-of-freedom adjustment. The rigid joint design and actuation methods of continuous robots are continuously expanding their application range in minimally invasive surgery. However, existing continuous robot structures are primarily used for soft tissue surgeries such as those in the digestive tract or sinuses, and have not yet been specifically optimized for arthroscopic surgery. In arthroscopic surgery, instruments require high rigidity to perform release operations, while also needing to flexibly adjust angles within confined anatomical spaces, placing higher demands on the balance between rigidity and flexibility in continuous robots.

[0006] To address this, a handheld release forceps with manually adjustable bending angle and fixed stiffness is proposed for use in arthroscopic surgery. Summary of the Invention

[0007] The purpose of this invention is to provide a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery, in order to solve the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery, comprising a housing, a continuous segment at one end of the housing, and a distal sleeve mounted at the end of the continuous segment away from the housing, the distal sleeve being connected to the release forceps via a pin; the housing contains a left-right bending control mechanism and a right-up-down bending control mechanism for controlling the bending of the continuous segment; the housing also contains a variable stiffness control mechanism for limiting the left-right bending control mechanism and the right-up-down bending control mechanism; and the bottom of the housing contains an opening and closing mechanism for controlling the opening and closing of the release forceps.

[0009] Preferably, the left and right bending control mechanism includes a top knob, and a second reserved hole is provided on the top of the outer shell. The top knob extends out of the outer shell through the second reserved hole. A gear is fixedly sleeved on the bottom end of the top knob. A second protruding cylinder is fixedly connected to the inner bottom wall of the outer shell in the vertical direction. The top knob is slidably sleeved on the outer side of the second protruding cylinder. A left and right bending drive wire is wound around the outer wall of the top knob. The two ends of the left and right bending drive wire are respectively fixedly connected to the left and right sides of the continuous section near the distal sleeve.

[0010] Preferably, the up-and-down bending control mechanism includes a rear-end knob, and a pre-drilled hole is provided at the end of the outer shell away from the continuous section, through which the rear-end knob extends out of the outer shell; a protruding cylinder is fixedly connected to the inner sidewall of the outer shell in the horizontal direction, and a gear shaft is fixedly sleeved in the middle of the rear-end knob, the gear shaft being slidably sleeved on the protruding cylinder; a transmission gear is rotatably connected inside the outer shell, the transmission gear meshing with the rear-end knob, and the rear-end knob not contacting the gear; an up-and-down bending drive wire is wound on the gear shaft, and the two ends of the up-and-down bending drive wire are respectively fixedly connected to the upper and lower sides of the continuous section near the distal sleeve.

[0011] Preferably, the transmission gear is slidably sleeved 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 T-shaped; a pre-drilled hole three is provided at the bottom of the housing, the bottom of the button extends out of the housing through the pre-drilled hole three, and the bottom of the button is slidably disposed within the pre-drilled hole three; a clamping baffle is fixedly connected to the top inner side of the housing, the top of the button is located on the side of the clamping baffle closer to the continuous section, and the top of the button is limited and engaged with the clamping baffle; a spring is sleeved on the end of the button near the pre-drilled hole one, a boss is fixedly connected to the bottom inner side of the housing, the boss is disposed on the side of the clamping baffle away from the continuous section, and the two ends of the spring abut against the boss and the clamping baffle respectively; both the gear and the transmission gear are limited by the button.

[0013] Preferably, the end of the button near the reserved hole is a tapered notch shape.

[0014] Preferably, the loosening clamp includes an upper clamp and a lower clamp, the lower clamp being rotatably connected to the distal sleeve via a first pin; a second pin is fixedly connected to the upper clamp, the upper clamp being rotatably connected to the lower clamp via the second pin, and the opening and closing mechanism is in transmission cooperation with the upper clamp.

[0015] Preferably, the opening and closing mechanism includes a rear handle, a front handle, and a release pliers drive wire. A pre-drilled hole four is provided at the bottom of the housing. Both the rear handle and the front handle extend into the housing through the pre-drilled hole four. A protruding cylinder three is fixedly connected to the inner wall of the housing 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 drive wire is fixedly wound around the pin two, and both ends of the release pliers drive wire are fixedly connected to the rear handle and the front handle, respectively.

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

[0017] Preferably, the outer shell has a reserved hole five at one end near the continuous segment, the continuous segment is installed on the outer shell through the reserved hole five, and the outer shell is connected to the continuous segment through the reserved hole five.

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

[0019] 1. Improve operational flexibility:

[0020] This invention employs a multi-degree-of-freedom design, enabling bending adjustments of continuous body segments through independent control of the rear and top knobs, thus adapting to complex anatomical structures such as the hip joint. Compared to traditional single-degree-of-freedom or rigid straight-bar release forceps, it can flexibly reach blind spots, significantly improving the surgical range and adaptability.

[0021] 2. Enhance operational stability:

[0022] This invention introduces a stiffness adjustment and fixing mechanism, which uses a button to control gear locking to achieve rapid stiffness locking after angle adjustment, thus avoiding misoperation caused by loosening or angle deviation during surgical operations.

[0023] 3. Improve surgical precision and efficiency:

[0024] The combination of multi-degree-of-freedom adjustment of the continuous segment and stable stiffness locking function enables faster and more precise positioning and adjustment of surgical instruments. Compared with existing technologies, this invention reduces the number of repeated adjustments to surgical instruments, shortens operation time, improves operational efficiency, and helps reduce patient trauma and postoperative recovery time.

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

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

[0027] 5. High applicability:

[0028] The present invention has a compact size design, which can adapt to the needs of operation in narrow joint cavities and has good adaptability. It is not limited to hip arthroscopy, but can also be widely used in knee arthroscopy, shoulder arthroscopy and other scenarios.

[0029] 6. Conserve resources and reduce costs:

[0030] This invention, through its integrated handheld design, eliminates the need for complex external drive mechanisms, thereby reducing manufacturing and maintenance costs. Compared to traditional rigid instruments or continuous robots, it offers greater economic benefits and clinical applicability. Attached Figure Description

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

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

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

[0034] Figure 3 This is an exploded view of the present invention;

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

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

[0037] Figure 6 This is a schematic diagram of the outer casing of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure of the loosening forceps of the present invention;

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

[0040] Figure 9 This is an explosion illustration of the opening and closing mechanism of the present invention;

[0041] Figure 10 This is a schematic diagram showing the connection between the top knob and the outer casing of the present invention;

[0042] Figure 11 This is a schematic diagram of the left and right bending control mechanism of the present invention;

[0043] Figure 12 This is a schematic diagram showing the connection between the rear knob and the outer casing of the present invention;

[0044] Figure 13 This is a schematic diagram of the upper and lower bending control mechanism of the present invention;

[0045] Figure 14 This is a schematic diagram showing the connection between the button and the housing of the present invention;

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

[0047] Figure 16 This is a front view of the variable stiffness control mechanism of the present invention inside the housing;

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

[0049] Figure 18 This is a schematic diagram of the variable stiffness control mechanism of the present invention in the unlocked state;

[0050] In the diagram: 1. Outer shell; 2. Rear end knob; 3. Gear shaft; 4. Transmission gear; 5. Upward and downward bending drive wire; 6. Button; 7. Clamping baffle; 8. Spring; 9. Continuous section; 10. Pin one; 11. Distal sleeve; 12. Top knob; 13. Gear; 14. Left and right bending drive wire; 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 Implementation

[0051] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other. The described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

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

[0053] Further optimization of the scheme: the left and right bending control mechanism includes a top knob 12, and a reserved hole 22 is provided on the top of the outer shell 1. 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. A protruding cylinder 25 is fixedly connected in the vertical direction on the inner bottom wall of the outer shell 1. 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. 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 section 9 near the distal sleeve 11.

[0054] Further optimization of the scheme: the up-and-down bending control mechanism includes a rear knob 2; a pre-drilled hole 21 is provided at the end of the outer shell 1 away from the continuous section 9; the rear knob 2 extends out of the outer shell 1 through the pre-drilled hole 21; a protruding cylinder 23 is fixedly connected to the inner wall of the outer shell 1 in the horizontal direction; a gear shaft 3 is fixedly sleeved in the middle of the rear knob 2; the gear shaft 3 is slidably sleeved on the protruding cylinder 23; a transmission gear 4 is rotatably connected inside the outer shell 1; the transmission gear 4 meshes with the rear knob 2; the rear knob 2 does not contact the gear 13; an up-and-down bending drive wire 5 is wound on the gear shaft 3; the two ends of the up-and-down bending drive wire 5 are respectively fixedly connected to the upper and lower sides of the end of the continuous section 9 near the far end sleeve 11.

[0055] In a further optimized design, 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 casing 1. The long pad 24 is used to support the transmission gear 4.

[0056] Further optimization of the scheme: the variable stiffness control mechanism includes a button 6, which has a T-shaped structure; a pre-drilled hole 27 is provided at the bottom of the housing 1, through which the bottom of the button 6 extends out of the housing 1 and is slidably disposed within the pre-drilled hole 27; a clamping baffle 7 is fixedly connected to the top inner side of the housing 1, and the top of the button 6 is located on the side of the clamping baffle 7 near the continuous section 9, and the top of the button 6 is in a limiting fit with the clamping baffle 7; a spring 8 is sleeved on the end of the button 6 near the pre-drilled hole 21, and a boss 26 is fixedly connected to the bottom inner side of the housing 1, located on the side of the clamping baffle 7 away from the continuous section 9, and the two ends of the spring 8 abut against the boss 26 and the clamping baffle 7 respectively; both gear 13 and transmission gear 4 are limited by the button 6.

[0057] The design has been further optimized so that the end of button 6 near the pre-reserved hole 21 is a tapered notch.

[0058] The design is further optimized. The loosening clamp includes an upper clamp 19 and a lower clamp 20. The lower clamp 20 is rotatably connected to the distal sleeve 11 via a pin 10. A pin 2 18 is fixedly connected to the upper clamp 19, and the upper clamp 19 is rotatably connected to the lower clamp 20 via the pin 2 18. The opening and closing mechanism is in transmission cooperation with the upper clamp 19.

[0059] The design is further optimized. The opening and closing mechanism includes a rear handle 15, a front handle 16, and a release pliers drive wire 17. A pre-drilled hole 28 is provided at the bottom of the outer shell 1. Both the rear handle 15 and the front handle 16 extend into the outer shell 1 through the pre-drilled hole 28. A protruding cylinder 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 30, and the front handle 16 is slidably sleeved on the protruding cylinder 30. The release pliers drive wire 17 is fixedly wound around the pin 18, and both ends of the release pliers drive wire 17 are fixedly connected to the rear handle 15 and the front handle 16, respectively.

[0060] In a further optimized design, two holes are provided at the end of the continuous segment 9 near the distal sleeve 11. The two holes are symmetrically arranged, and the loosening pliers drive wire 17 passes through the holes in sequence and is fixedly connected to the second pin 18.

[0061] In a further optimized design, a pre-reserved hole 31 is provided at one end of the outer shell 1 near the continuous segment 9. The continuous segment 9 is installed on the outer shell 1 through the pre-reserved hole 31, and the outer shell 1 is connected to the continuous segment 9 through the pre-reserved hole 31.

[0062] The handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by this invention are used as follows:

[0063] Specific steps for adjusting the left and right sides:

[0064] The left and right bending drive wire 14 is tightly fitted onto the top knob 12 and the distal sleeve 11. Therefore, when the top knob 12 is rotated, the left and right length of the left and right bending drive wire 14 will change under the action of friction. For example, when the top knob 12 is rotated counterclockwise, the left and right bending drive wire 14 passing through the left side of the continuous segment 9 will be more bypassed by the top knob 12 and brought to the right side, thereby causing the continuous segment 9 to bend to the left; this also conforms to the human operating logic.

[0065] Specific steps for adjusting the upper and lower sides:

[0066] The up-and-down bending drive wire 5 is tightly fitted onto the gear shaft 3 and the distal sleeve 11. Therefore, when the rear knob 2 is rotated, the rear knob 2 drives the transmission gear 4 to rotate. 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 knob 2 is rotated upward, the up-and-down bending drive wire 5 passing through the upper side of the continuous segment 9 will be brought to the lower side more around the gear shaft 3, thereby causing the continuous segment 9 to bend upward; this also conforms to the human operating logic.

[0067] The specific operation of variable stiffness:

[0068] Button 6 locks the rotation of transmission gears 4 and 13, thus locking the overall structural rigidity and preventing bending. When adjusting the bending angle of continuous segment 9, push button 6 forward with your thumb. Spring 8 is then blocked by the clamping baffle 7, causing it to press firmly. The distal tapered structure of button 6 disengages from the teeth of transmission gears 4 and 13, allowing the rear knob 2 and top knob 12 to rotate, thus adjusting the bending angle of continuous segment 9. After adjusting the angle, release button 6. Under the action of spring 8, the distal tapered structure of button 6 is pushed into the teeth of transmission gears 4 and 13, locking them simultaneously and locking the bending angle, thus achieving the functions of angle adjustment and variable stiffness.

[0069] Specific steps for opening and closing the jaws of the loosening pliers:

[0070] The release pliers drive wire 17 passes through the center of the continuous segment 9 and is fixed at the distal pin 18. Pin 18 is coaxially fixed with the upper pliers 19, the lower pliers 20 itself does not move, and the rear handle 15 is fixed and does not move. Therefore, when the pin 18 is pulled and rotated by the front handle 16 and the release pliers drive wire 17, the upper pliers 19 will also rotate around the pin 18, thereby achieving the purpose of opening and closing.

[0071] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery, characterized in that, The device includes an outer shell (1), one end of which is provided with a continuous section (9), and the end of the continuous section (9) away from the outer shell (1) is equipped with a distal sleeve (11), which is connected to a release pliers by a pin (10); the outer shell (1) is provided with a left-right bending control mechanism and a right-up bending control mechanism for controlling the bending of the continuous section (9); the outer shell (1) is provided with a variable stiffness control mechanism inside, which is used to limit the left-right bending control mechanism and the right-up bending control mechanism; the bottom of the outer shell (1) is provided with an opening and closing mechanism for controlling the opening and closing of the release pliers. The left and right bending control mechanism includes a top knob (12), and a reserved hole (22) is provided on the top of the outer shell (1). 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). A protruding cylinder (25) is fixedly connected to the inner bottom wall of the outer shell (1) in the vertical direction. 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). 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 section (9) near the end of the distal sleeve (11). The up-and-down bending control mechanism includes a rear end knob (2). A pre-drilled hole (21) is provided at one end of the outer shell (1) away from the continuous section (9). The rear end knob (2) extends out of the outer shell (1) through the pre-drilled hole (21). A protruding cylinder (23) is fixedly connected to the inner side wall of the outer shell (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 outer shell (1). The transmission gear (4) meshes with the rear end knob (2). The rear end knob (2) does not contact the gear (13). An up-and-down bending drive wire (5) is wound on the gear shaft (3). The two ends of the up-and-down bending drive wire (5) are fixedly connected to the upper and lower sides of the continuous section (9) near the distal sleeve (11), respectively. 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 housing (1), and the bottom of the button (6) extends out of the housing (1) through the reserved hole three (27), and the bottom of the button (6) is slidably disposed in the reserved hole three (27); a clamping baffle (7) is fixedly connected to the top of the inner side of the housing (1), and 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 (6) is limited by the clamping baffle (7); a spring (8) is sleeved on one end of the button (6) near the reserved hole (21); a boss (26) is fixedly connected to the bottom inner side of the outer shell (1); the boss (26) is located on the side of the clamping baffle (7) away from the continuous section (9); the two ends of the spring (8) abut against the boss (26) and the clamping baffle (7) respectively; the gear (13) and the transmission gear (4) are both limited by the button (6).

2. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 1, 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), 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).

3. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 1, characterized in that, The end of the button (6) near the reserved hole (21) is a tapered notch.

4. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 1, characterized in that, The loosening clamp includes an upper clamp (19) and a lower clamp (20). The lower clamp (20) is rotatably connected to the distal sleeve (11) via the first pin (10). The upper clamp (19) is fixedly connected to the second pin (18), and the upper clamp (19) is rotatably connected to the lower clamp (20) via the second pin (18). The opening and closing mechanism is in transmission cooperation with the upper clamp (19).

5. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 4, characterized in that, The opening and closing mechanism includes a rear handle (15), a front handle (16), and a release pliers drive wire (17). The bottom of the outer shell (1) is provided with a reserved hole four (28). The rear handle (15) and the front handle (16) both extend 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 release pliers drive wire (17) is fixedly wound around the pin two (18), and the two ends of the release pliers drive wire (17) are fixedly connected to the rear handle (15) and the front handle (16) respectively.

6. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 5, characterized in that, The continuous segment (9) has two holes at one end near the distal sleeve (11). The two holes are symmetrically arranged. The loosening pliers drive wire (17) passes through the holes in sequence and is fixedly connected to the second pin (18).

7. The handheld release forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery according to claim 1, characterized in that, The outer shell (1) has a reserved hole five (31) at one end near the continuous section (9). The continuous section (9) is installed on the outer shell (1) through the reserved hole five (31), and the outer shell (1) is connected to the continuous section (9) through the reserved hole five (31).

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