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 handheld operating device, a continuous body section and release forceps, the handheld operating device and the release forceps are respectively mounted at the head end and the tail end of the continuous body section, and the handheld operating device comprises a shell, a connecting rod and a connecting rod, the up-down bending driving assembly is mounted in the shell; the left-right bending driving assembly is mounted in the shell; the jaw opening and closing driving assembly is installed at the bottom of the shell, and the jaw opening and closing driving assembly is used for controlling the opening and closing angle of the loosening pliers; wherein a locking assembly is installed in the shell, and the locking assembly is in limiting fit with the up-down bending driving assembly and the left-right bending driving assembly. The device can adapt to a complex anatomical structure of an articular cavity, flexibly reach the position of a view blind area and keep precision and stability in surgical operation, so that the surgical efficiency is improved, and wounds of a patient are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery. Background Art

[0002] Arthroscopic surgery is a minimally invasive technique widely used in the orthopedic field, such as hip labral repair, knee meniscectomy, and ligament reconstruction. Arthroscopic surgery completes complex diagnosis and treatment operations through the guidance and operation of arthroscopic instruments with extremely small incisions. 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] Currently, most of the surgical tools used in arthroscopic surgery, including release forceps, are rigid straight rod types. 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 tissues while ensuring rigid transmission. However, due to the limitations 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 area of vision, restricting the operation range of the surgery and increasing the surgical difficulty and time.

[0004] To solve the problem of insufficient flexibility of rigid instruments, in recent years, some improved release forceps have attempted to introduce an angle adjustment function. For example, by adding a single-degree-of-freedom joint at the end, allowing the jaw to rotate within a certain range [1]. This improved design enhances the flexibility of the instrument and enables 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 adjustable angle range is small and cannot achieve multi-directional operation; second, there is a lack of a stiffness fixation mechanism during the surgery, and the instrument may loosen or shift during operation, thus affecting the accuracy of the operation.

[0005] In addition to the improvement of traditional rigid instruments, continuous robot technology has shown great potential in the field of endoscopic surgery in recent years. Such robots adopt flexible, rigid, or hybrid structures and achieve bending and precise positioning of complex paths through multi-degree-of-freedom adjustment. The rigid joint design and driving methods (such as wire driving) of continuous robots have continuously expanded their application scope in minimally invasive surgery. However, the existing continuous robot structures are mostly used in soft tissue surgeries such as the digestive tract or sinuses and have not been specifically optimized for the arthroscopic surgery scenario. In arthroscopic surgery, the instrument needs to have a high stiffness to complete the release operation, and at the same time, it needs to flexibly adjust the angle in a narrow anatomical space, which poses higher requirements for the rigid-flexible balance of continuous robots.

[0006] In view of the above background, the present invention proposes a hand-held relaxation forceps that can be manually adjusted in bending angle and can achieve fixed stiffness, which is suitable for arthroscopic surgery operations. Summary of the Invention

[0007] The object of the present invention is to provide a hand-held relaxation forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery to solve the problems existing in the prior art.

[0008] To achieve the above object, the present invention provides the following solution: The present invention provides a hand-held relaxation forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery, including a hand-held operation device, a continuum segment, and a relaxation forceps. The hand-held operation device and the relaxation forceps are respectively installed at the head end and the tail end of the continuum segment. The hand-held operation device includes:

[0009] A housing, with a first reserved hole opened at the front end of the housing, and the continuum segment is fixed on the first reserved hole;

[0010] An up-and-down bending drive assembly, which is installed in the housing and is used to control the up-and-down bending of the continuum segment;

[0011] A left-and-right bending drive assembly, which is installed in the housing and is used to control the left-and-right bending of the continuum segment;

[0012] A jaw opening and closing drive assembly, which is installed at the bottom of the housing and is used to control the opening and closing angle of the relaxation forceps;

[0013] Wherein, a locking assembly is installed in the housing, and the locking assembly is in limit cooperation with the up-and-down bending drive assembly and the left-and-right bending drive assembly.

[0014] According to the hand-held relaxation forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery provided by the present invention, the relaxation forceps includes an upper jaw and a lower jaw. The upper jaw and the lower jaw are rotationally connected through a first pin shaft, and the lower jaw is rotationally connected to the tail end of the continuum segment through a second pin shaft.

[0015] According to the hand-held relaxation forceps with multi-degree-of-freedom adjustable angle and stiffness for arthroscopic surgery provided by the present invention, the up-and-down bending drive assembly includes a rear-end knob, a direction-changing gear, and an up-and-down bending drive wire;

[0016] A first fixed column is fixedly connected in the housing. The rear-end knob is rotationally connected to the first fixed column through a mounting shaft. A second reserved hole is opened at the rear end of the housing, and the rear-end knob extends out of the housing through the second reserved hole;

[0017] A first backing plate is fixedly connected inside the housing. The direction-changing gear is rotatably connected to the first backing plate, and the axis of the direction-changing gear is perpendicular to the axis of the rear end knob. The direction-changing gear meshes with the rear end knob.

[0018] The up-and-down bending drive wire is in transmission cooperation with the mounting shaft. Both ends of the up-and-down bending drive wire penetrate into the continuum section and are fixed to the front end of the inner wall of the continuum section.

[0019] According to the handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by the present invention, the left-and-right bending drive assembly includes a rotating rod, a transmission gear, and a left-and-right bending drive wire.

[0020] A second fixed column is fixedly connected inside the housing. The rotating rod is rotatably connected to the second fixed column. A third reserved hole is opened at the top of the housing. One end of the rotating rod passes through the third reserved hole and extends out of the housing.

[0021] The transmission gear is fixedly connected to the rotating rod. The transmission gear and the direction-changing gear are coaxially arranged. The rotating rod and the direction-changing gear are in rotational cooperation with each other.

[0022] The left-and-right bending drive wire is in transmission cooperation with the rotating rod. Both ends of the left-and-right bending drive wire penetrate into the continuum section and are fixed to the front end of the inner wall of the continuum section.

[0023] According to the handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by the present invention, the jaw opening and closing drive assembly includes a front handle, a rear handle, and a jaw opening and closing drive wire.

[0024] A fixed shaft is fixedly connected inside the housing. The front handle is rotatably connected to the fixed shaft, and the rear handle is fixedly connected to the fixed shaft.

[0025] A fourth reserved hole is opened at the bottom of the housing. The front handle and the rear handle extend out of the housing through the fourth reserved hole.

[0026] The jaw opening and closing drive wire is in a ring structure. The jaw opening and closing drive wire is in transmission cooperation with the front handle and the first pin shaft.

[0027] According to the handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by the present invention, the locking assembly includes a variable stiffness button, a connecting rod, a locking block, a pressing baffle, and a spring.

[0028] A fifth reserved hole is opened at the bottom of the housing. The variable stiffness button is slidably connected in the fifth reserved hole.

[0029] The connecting rod is fixed on the variable stiffness button;

[0030] A second backing plate is fixedly connected inside the housing, and the connecting rod passes through the second backing plate;

[0031] The pressing baffle is fixedly connected to one end of the spring. The spring is sleeved on the connecting rod. The pressing baffle abuts against the second backing plate, and the other end of the spring abuts against the locking block;

[0032] A cuboid boss is fixedly connected inside the housing. The locking block is slidably connected to the top surface of the cuboid boss, and the locking block is in limit fit with the direction-changing gear and the transmission gear.

[0033] According to the hand-held release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by the present invention, a sleeve is installed at the front end of the continuum section. The sleeve is fixed at the tail end of the continuum section, and the jaw is rotatably connected to the sleeve through the second pin shaft.

[0034] According to the hand-held release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery provided by the present invention, a through hole is opened at the rear end of the lower jaw, and the jaw opening and closing driving wire passes through the through hole and is in transmission cooperation with the first pin shaft.

[0035] The present invention discloses the following technical effects:

[0036] The present invention adjusts the continuum section in the up-and-down direction and the left-and-right direction through the up-and-down bending driving component and the left-and-right bending driving component respectively, controls the opening and closing angle of the jaws through the jaw opening and closing driving component, and locks the up-and-down bending driving component and the left-and-right bending driving component through the locking component, ensuring that the continuum section can be locked at a specific angle.

[0037] The present invention combines the stability of rigid instruments and the flexibility of continuous structures, can provide an angle adjustment function with two degrees of freedom, and is equipped with a stiffness adjustment and fixation mechanism. The release forceps can adapt to the complex anatomical structure of the joint cavity, flexibly reach the blind area of vision, and maintain accuracy and stability during surgical operations, thereby improving surgical efficiency and reducing patient trauma. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is an axonometric view of the present invention;

[0040] Figure 2 is the front view of the present invention;

[0041] Figure 3 is the exploded view of the present invention;

[0042] Figure 4 is the sectional view of the present invention;

[0043] Figure 5 is the structural schematic diagram of the housing of the present invention;

[0044] Figure 6 is the structural schematic diagram of the loosening pliers of the present invention;

[0045] Figure 7 is the structural schematic diagram of the jaw opening and closing drive assembly of the present invention;

[0046] Figure 8 is the structural schematic diagram of the left and right bending drive assembly of the present invention;

[0047] Figure 9 is the structural schematic diagram of the up and down bending drive assembly of the present invention.

[0048] Among them, 1. housing; 2. rear end knob; 3. mounting shaft; 4. direction-changing gear; 5. up and down bending drive wire; 6. variable stiffness button; 7. pressing baffle; 8. spring; 9. continuum segment; 10. second pin shaft; 11. sleeve; 12. rotating rod; 13. transmission gear; 14. left and right bending drive wire; 15. rear handle; 16. front handle; 17. jaw opening and closing drive wire; 18. first pin shaft; 19. upper jaw; 20. lower jaw; 21. second reserved hole; 22. third reserved hole; 23. first fixing column; 24. first backing plate; 25. second fixing column; 26. cuboid boss; 27. fifth reserved hole; 28. fourth reserved hole; 29. second backing plate; 30. fixed shaft; 31. first reserved hole. Detailed implementation manners

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific implementation manners.

[0051] Refer to Figures 1-9, the present invention provides a hand-held release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery, including a hand-held operating device, a continuum segment 9, and a release forceps. The hand-held operating device and the release forceps are respectively installed at the head end and the tail end of the continuum segment 9. The hand-held operating device includes:

[0052] A housing 1, with a first reserved hole 31 opened at the front end of the housing 1, and the continuum segment 9 is fixed on the first reserved hole 31;

[0053] An up-and-down bending drive assembly, which is installed inside the housing 1 and is used to control the up-and-down bending of the continuum segment 9;

[0054] A left-and-right bending drive assembly, which is installed inside the housing 1 and is used to control the left-and-right bending of the continuum segment 9;

[0055] A jaw opening and closing drive assembly, which is installed at the bottom of the housing 1 and is used to control the opening and closing angle of the release forceps;

[0056] Among them, a locking assembly is installed inside the housing 1, and the locking assembly is in limit cooperation with the up-and-down bending drive assembly and the left-and-right bending drive assembly.

[0057] In the present invention, the up-and-down bending drive assembly and the left-and-right bending drive assembly are respectively used to adjust the continuum segment 9 in the up-and-down direction and the left-and-right direction. The jaw opening and closing drive assembly is used to control the opening and closing angle of the jaws. The locking assembly is used to lock the up-and-down bending drive assembly and the left-and-right bending drive assembly, ensuring that the continuum segment 9 can be locked at a specific angle.

[0058] In a further optimized solution, the release forceps includes an upper jaw 19 and a lower jaw 20. The upper jaw 19 and the lower jaw 20 are rotatably connected through a first pin shaft 18, and the lower jaw 20 is rotatably connected to the tail end of the continuum segment 99 through a second pin shaft 10.

[0059] In a further optimized solution, the up-and-down bending drive assembly includes a rear-end knob 2, a direction-changing gear 4, and an up-and-down bending drive wire 5;

[0060] A first fixing column 23 is fixedly connected inside the housing 1. The rear-end knob 2 is rotatably connected to the first fixing column 23 through a mounting shaft 3. A second reserved hole 21 is opened at the rear end of the housing 1, and the rear-end knob 2 extends out of the housing 1 through the second reserved hole 21;

[0061] A first backing plate 24 is fixedly connected inside the housing 1. The direction-changing gear 4 is rotatably connected to the first backing plate 24, and the axis of the direction-changing gear 4 is perpendicular to the axis of the rear-end knob 2. The direction-changing gear 4 meshes with the rear-end knob 2;

[0062] The upper and lower bending drive wire 5 is in transmission cooperation with the mounting shaft 3. Both ends of the upper and lower bending drive wire 5 penetrate into the continuous body section 9 and are fixed to the front end of the inner wall of the continuous body section 9.

[0063] In a further optimized solution, the left and right bending drive assembly includes a rotating rod 12, a transmission gear 13, and a left and right bending drive wire 14;

[0064] A second fixed column 25 is fixedly connected inside the housing 1. The rotating rod 12 is rotatably connected to the second fixed column 25. A third reserved hole 22 is opened at the top of the housing 1. One end of the rotating rod 12 passes through the third reserved hole 22 and extends out of the housing 1;

[0065] The transmission gear 13 is fixedly connected to the rotating rod 12. The transmission gear 13 and the direction-changing gear 4 are coaxially arranged. The rotating rod 12 and the direction-changing gear 4 are in rotational cooperation;

[0066] The left and right bending drive wire 14 is in transmission cooperation with the rotating rod 12. Both ends of the left and right bending drive wire 14 penetrate into the continuous body section 9 and are fixed to the front end of the inner wall of the continuous body section 9.

[0067] A high-friction fit is adopted between the rotating rod 12 and the left and right bending drive wire 14. The rotating rod 12 drives the left and right bending drive wire 14 to transmit. The left and right bending drive wire 14 pulls the continuous body section 9 to deflect. The continuous body section 9 is a corrugated structure. Through holes are opened on the side wall along the axial direction. The end of the left and right bending drive wire 14 penetrates into the through hole and is fixed to the end of the through hole. The control of the up and down is the same as that of the left and right, which will not be elaborated in this embodiment.

[0068] In a further optimized solution, the jaw opening and closing drive assembly includes a front handle 16, a rear handle 15, and a jaw opening and closing drive wire 17;

[0069] A fixed shaft 30 is fixedly connected inside the housing 1. The front handle 16 is rotatably connected to the fixed shaft 30. The rear handle 15 is fixedly connected to the fixed shaft 30;

[0070] A fourth reserved hole 28 is opened at the bottom of the housing 1. The front handle 16 and the rear handle 15 extend out of the housing 1 through the fourth reserved hole 28;

[0071] The jaw opening and closing drive wire 17 is in a ring structure. The jaw opening and closing drive wire 17 is in transmission cooperation with the front handle 16 and the first pin shaft 18.

[0072] In a further optimized solution, the locking assembly includes a variable stiffness button 6, a connecting rod, a locking block, a pressing baffle 7, and a spring 8;

[0073] A fifth reserved hole 27 is opened at the bottom of the housing 1. The variable stiffness button 6 is slidably connected in the fifth reserved hole 27;

[0074] The connecting rod is fixed to the variable stiffness button 6;

[0075] A second backing plate 29 is fixedly connected inside the housing 1, and the connecting rod passes through the second backing plate 29;

[0076] The pressing baffle 7 is fixedly connected to one end of the spring 8. The spring 8 is sleeved on the connecting rod. The pressing baffle 7 abuts against the second backing plate 29, and the other end of the spring 8 abuts against the locking block;

[0077] A cuboid boss 26 is fixedly connected inside the housing 1. The locking block is slidably connected to the top surface of the cuboid boss 26, and the locking block is in limit fit with the direction-changing gear 4 and the transmission gear 13.

[0078] When the angle needs to be adjusted, push the variable stiffness button 6 forward. The locking block compresses the spring 8. At this time, the locking block is separated from the direction-changing gear 4 and the transmission gear 13, and the angle of the continuum section 9 can be adjusted. Release the variable stiffness button 6. Under the action of the spring 8, the locking block is extruded, so that the locking block abuts against the direction-changing gear 4 and the transmission gear 13, and the locking of the direction-changing gear 4 and the transmission gear 13 is achieved through friction.

[0079] In a further optimized solution, a sleeve 11 is installed at the front end of the continuum section 9. The sleeve 11 is fixed to the tail end of the continuum section 9. The jaw is rotatably connected to the sleeve 11 through the second pin 10. The sleeve 11 and the second pin 10 are connected by a threaded connection, and the angle of the operating end can be adjusted in advance.

[0080] In a further optimized solution, a through hole is opened at the rear end of the lower jaw 20. The jaw opening and closing drive wire 17 passes through the through hole and is in transmission cooperation with the first pin 18.

[0081] A high friction force is adopted between the pin and the jaw opening and closing drive wire 17, or a tooth shape is provided on the first pin 18 to ensure that the jaw opening and closing drive wire 17 can drive the first pin 18 to rotate. The first pin 18 is fixed to the upper jaw 19. In this way, the upper jaw 19 and the lower jaw 20 can be driven to open and close relatively through the first pin 18, and the front handle 16 rotates relative to the fixed shaft 30. In this way, it can be ensured that the front handle 16 can rotate to drive the jaw opening and closing drive wire 17 to transmit synchronously.

[0082] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 construed as a limitation of the present invention.

[0083] The embodiments described above are only descriptions of the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims 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 hand-held operating device, a continuous body segment (9) and a loosening forceps, wherein the hand-held operating device and the loosening forceps are respectively mounted at the head end and the tail end of the continuous body segment (9), and the hand-held operating device comprises: A shell (1), wherein a first reserved hole (31) is formed at the front end of the shell (1), and the continuous body segment (9) is fixed on the first reserved hole (31); An up-and-down bending drive assembly, the up-and-down bending drive assembly being installed in the housing (1), the up-and-down bending drive assembly being used to control the up-and-down bending of the continuous body segment (9); A left-right bending drive assembly, the left-right bending drive assembly being installed in the housing (1), and the left-right bending drive assembly being used to control the left-right bending of the continuous body segment (9); A jaw opening and closing drive assembly, the jaw opening and closing drive assembly being mounted on the bottom of the housing (1), the jaw opening and closing drive assembly being used to control the opening and closing angle of the release forceps; Wherein, a locking assembly is installed in the housing (1), and the locking assembly is limitedly matched with the up-and-down bending drive assembly and the left-and-right bending drive assembly.

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 release pliers include an upper jaw (19) and a lower jaw (20), wherein the upper jaw (19) and the lower jaw (20) are rotatably connected via a first pin shaft (18), and the lower jaw (20) is rotatably connected to the tail end of the continuous body section (9) (9) via a second pin shaft (10).

3. 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 up and down bending driving assembly comprises a rear end knob (2), a direction changing gear (4) and an up and down bending driving wire (5); A first fixing column (23) is fixedly connected inside the housing (1), the rear end knob (2) is connected to the first fixing column (23) via a mounting shaft (3), a second reserved hole (21) is opened at the rear end of the housing (1), and the rear end knob (2) extends out of the housing (1) through the second reserved hole (21); A first pad (24) is fixedly connected inside the housing (1), the direction-changing gear (4) is rotatably connected to the first pad (24), and the axis of the direction-changing gear (4) is perpendicular to the axis of the rear end knob (2), and the direction-changing gear (4) is meshed with the rear end knob (2); The upper and lower bending drive wires (5) are in transmission cooperation with the mounting shaft (3), and both ends of the upper and lower bending drive wires (5) penetrate into the continuous body segment (9) and are fixed to the front end of the inner wall of the continuous body segment (9).

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 left and right bending drive assembly comprises a rotary rod (12), a transmission gear (13) and left and right bending drive wires (14); A second fixing column (25) is fixedly connected inside the housing (1), the rotating rod (12) is rotatably connected to the second fixing column (25), a third reserved hole (22) is opened on the top of the housing (1), and one end of the rotating rod (12) passes through the third reserved hole (22) and extends out of the housing (1); The transmission gear (13) is fixedly connected to the rotating rod (12), the transmission gear (13) and the direction-changing gear (4) are coaxially arranged, and the rotating rod (12) and the direction-changing gear (4) are rotationally matched; The left and right bending drive wires (14) are in transmission cooperation with the rotating rod (12), and both ends of the left and right bending drive wires (14) penetrate into the continuous body segment (9) and are fixed to the front end of the inner wall of the continuous body segment (9).

5. The multi-degree-of-freedom, angle-adjustable, and hand-held release forceps for arthroscopic surgery according to claim 2, characterized in that: The jaw opening and closing driving assembly comprises a front handle (16), a rear handle (15) and a jaw opening and closing driving wire (17); A fixed shaft (30) is fixedly connected inside the housing (1), the front handle (16) is rotatably connected to the fixed shaft (30), and the rear handle (15) is fixedly connected to the fixed shaft (30); A fourth reserved hole (28) is provided at the bottom of the housing (1), and the front handle (16) and the rear handle (15) extend out of the housing (1) through the fourth reserved hole (28); The jaw opening and closing driving wire (17) is in an annular structure, and the jaw opening and closing driving wire (17) is in transmission cooperation with the front handle (16) and the first pin shaft (18).

6. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 4, characterized in that: The locking assembly comprises a variable stiffness button (6), a connecting rod, a locking block, a pressing baffle (7), and a spring (8); A fifth reserved hole (27) is provided at the bottom of the housing (1), and the variable stiffness button (6) is slidably connected in the fifth reserved hole (27); The connecting rod is fixed on the variable stiffness button (6); A second pad (29) is fixedly connected inside the housing (1), and the connecting rod passes through the second pad (29); The clamping baffle (7) is fixedly connected to one end of the spring (8), the spring (8) is sleeved on the connecting rod, the clamping baffle (7) is in contact with the second pad (29), and the other end of the spring (8) is in contact with the locking block; A rectangular boss (26) is fixedly connected inside the housing (1), the locking block is slidably connected to the top surface of the rectangular boss (26), and the locking block is limitedly matched with the direction-changing gear (4) and the transmission gear (13).

7. The multi-degree-of-freedom, angle-adjustable, and hand-held release forceps for arthroscopic surgery according to claim 2, characterized in that: A sleeve (11) is installed at the front end of the continuous body section (9), and the sleeve (11) is fixed at the rear end of the continuous body section (9). The jaws are rotatably connected to the sleeve (11) via the second pin shaft (10).

8. The hand-held release forceps with multiple degrees of freedom and adjustable angle stiffness for arthroscopic surgery according to claim 5, characterized in that: A through hole is formed at the rear end of the lower jaw (20), and the jaw opening and closing driving wire (17) passes through the through hole to be in transmission cooperation with the first pin shaft (18).

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