A 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 handheld operating device, a continuous segment, and the release forceps. The handheld operating device and the release forceps are respectively installed at the beginning and end of the continuous segment. The handheld operating device includes: a housing; a vertical bending drive assembly installed inside the housing; a horizontal bending drive assembly installed inside the housing; and a jaw opening and closing drive assembly installed at the bottom of the housing, used to control the opening and closing angle of the release forceps. A locking component is installed inside the housing, and the locking component engages with the vertical bending drive assembly and the horizontal bending drive assembly for limiting their movement. This invention can adapt to the complex anatomical structure of the joint cavity, flexibly reach blind spots, and maintain precision and stability during surgical operations, thereby improving surgical efficiency and reducing patient trauma.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular 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] In order to solve the problem of insufficient flexibility of rigid instruments, some improved release forceps have attempted to introduce angle adjustment function 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 [1]. This improved design enhances 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 rigid fixation mechanism during the operation, and the instrument may loosen or shift during operation, thus affecting the accuracy of the operation.

[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 (such as wire actuation) of continuous robots are continuously expanding their application range in minimally invasive surgery. However, existing continuous robot structures are mostly 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] In view of the above background, the present invention proposes a handheld release forceps that can be manually adjusted in bending angle and can achieve stiffness fixation, which is suitable for 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 the following solution: The present invention provides a handheld release forceps with multi-degree-of-freedom adjustable angular stiffness for arthroscopic surgery, comprising a handheld operating device, a continuous segment, and a release forceps, wherein the handheld operating device and the release forceps are respectively installed at the beginning and end of the continuous segment, and the handheld operating device comprises:

[0009] The outer casing has a first reserved hole at its front end, and the continuous body segment is fixed on the first reserved hole;

[0010] An up-and-down bending drive assembly is installed inside the housing and is used to control the up-and-down bending of the continuous segment.

[0011] A left-right bending drive assembly is installed inside the housing and is used to control the left-right bending of the continuous body segment.

[0012] A jaw opening and closing drive assembly is installed at the bottom of the housing and is used to control the opening and closing angle of the release jaws;

[0013] The housing contains a locking assembly that engages with the vertical bending drive assembly and the horizontal bending drive assembly in a limiting manner.

[0014] According to the present invention, a handheld release forceps with multi-degree-of-freedom adjustable angular stiffness for arthroscopic surgery includes an upper jaw and a lower jaw, the upper jaw and the lower jaw being rotatably connected by a first pin, and the lower jaw being rotatably connected to the tail end of the continuous segment by a second pin.

[0015] According to the present invention, the handheld release forceps for arthroscopic surgery with multi-degree-of-freedom adjustable angular stiffness includes a rear knob, a reversing gear, and an up-and-down bending drive wire.

[0016] A first fixing post is fixedly connected inside the outer casing, and the rear knob is connected to the first fixing post via a mounting shaft. A second reserved hole is provided at the rear end of the outer casing, and the rear knob extends out of the outer casing through the second reserved hole.

[0017] A first pad is fixedly connected inside the housing, and the reversing gear is rotatably connected to the first pad. The axis of the reversing gear is perpendicular to the axis of the rear knob, and the reversing gear meshes with the rear knob.

[0018] The upper and lower bending drive wires are connected to the mounting shaft for transmission, and both ends of the upper and lower bending drive wires pass through the continuous section and are fixed to the front end of the inner wall of the continuous section.

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

[0020] A second fixed post is fixedly connected inside the outer shell, and the rotating rod is rotatably connected to the second fixed post. A third reserved hole is opened at the top of the outer shell, and one end of the rotating rod passes through the third reserved hole and extends out of the outer shell.

[0021] The transmission gear is fixedly connected to the rotating rod, and the transmission gear and the reversing gear are coaxially arranged, with the rotating rod and the reversing gear having a rotational engagement;

[0022] The left and right bending drive wires are engaged with the rotary rod transmission, and both ends of the left and right bending drive wires are inserted into the continuous section and fixed to the front end of the inner wall of the continuous section.

[0023] According to the present invention, a handheld release forceps with multi-degree-of-freedom adjustable angular stiffness for arthroscopic surgery includes a jaw opening and closing drive assembly comprising 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] The bottom of the outer casing has a fourth reserved hole, through which the front handle and the rear handle extend out of the outer casing;

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

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

[0028] The bottom of the outer casing has a fifth reserved hole, and the variable stiffness button is slidably connected in the fifth reserved hole;

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

[0030] A second pad is fixedly connected inside the outer casing, and the connecting rod passes through the second pad.

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

[0032] A cuboid boss is fixedly connected inside the housing, and a locking block is slidably connected to the top surface of the cuboid boss. The locking block is in a limiting engagement with the reversing gear and the transmission gear.

[0033] According to the present invention, a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery has a sleeve installed at the front end of the continuous segment, the sleeve being fixed at the tail end of the continuous segment, and the jaws being rotatably connected to the sleeve via a second pin.

[0034] According to the present invention, a handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery has a through hole at the rear end of the lower jaw, and the jaw opening and closing drive wire passes through the through hole and engages with the first pin shaft for transmission.

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

[0036] This invention uses an up-and-down bending drive assembly and a left-and-right bending drive assembly to adjust the continuous body segment in the up-and-down and left-and-right directions, respectively. A jaw opening and closing drive assembly controls the jaw opening and closing angle, and a locking assembly locks the up-and-down bending drive assembly and the left-and-right bending drive assembly, ensuring that the continuous body segment can be locked at a specific angle.

[0037] This invention combines the stability of a rigid instrument with the flexibility of a continuous structure, providing two degrees of freedom for angle adjustment and incorporating stiffness adjustment and fixation mechanisms. This release forceps can adapt to the complex anatomy of the joint cavity, flexibly reach blind spots, and maintain precision and stability during surgical procedures, thereby improving surgical efficiency and reducing patient trauma. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is an isometric view of the present invention;

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

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

[0042] Figure 4 This is a cross-sectional view of the present invention;

[0043] Figure 5 This is a schematic diagram of the outer casing of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of the loosening forceps of the present invention;

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

[0046] Figure 8 This is a schematic diagram of the structure of the left and right bending drive component of the present invention;

[0047] Figure 9 This is a schematic diagram of the structure of the upper and lower bending drive component of the present invention.

[0048] The components are as follows: 1. Outer shell; 2. Rear knob; 3. Mounting shaft; 4. Reversing gear; 5. Upward and downward bending drive wire; 6. Variable stiffness button; 7. Pressing baffle; 8. Spring; 9. Continuous section; 10. Second pin; 11. Sleeve; 12. Rotary 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; 19. Upper jaw; 20. Lower jaw; 21. Second reserved hole; 22. Third reserved hole; 23. First fixing post; 24. First pad; 25. Second fixing post; 26. Cuboid boss; 27. Fifth reserved hole; 28. Fourth reserved hole; 29. ​​Second pad; 30. Fixing shaft; 31. First reserved hole. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Reference Figures 1-9This invention provides a handheld release forceps with multi-degree-of-freedom adjustable angular stiffness for arthroscopic surgery, comprising a handheld operating device, a continuous segment 9, and release forceps. The handheld operating device and release forceps are respectively installed at the head end and tail end of the continuous segment 9. The handheld operating device includes:

[0052] The outer casing 1 has a first reserved hole 31 at its front end, and the continuous body segment 9 is fixed on the first reserved hole 31.

[0053] The up-and-down bending drive assembly is installed inside the housing 1 and is used to control the up-and-down bending of the continuous segment 9.

[0054] A left-right bending drive assembly is installed inside the housing 1. The left-right bending drive assembly is used to control the left-right bending of the continuous segment 9.

[0055] A jaw opening and closing drive assembly is installed at the bottom of the housing 1. The jaw opening and closing drive assembly is used to control the opening and closing angle of the release jaws.

[0056] The outer casing 1 contains a locking component, which is in a limiting fit with the up-down bending drive component and the left-right bending drive component.

[0057] The present invention adjusts the continuous segment 9 in the vertical and horizontal directions by using the vertical bending drive component and the horizontal bending drive component respectively, controls the opening and closing angle of the jaws by the jaw opening and closing drive component, and locks the vertical bending drive component and the horizontal bending drive component by the locking component, so as to ensure that the continuous segment 9 can be locked at a specific angle.

[0058] The solution is further optimized. The loosening clamp includes an upper jaw 19 and a lower jaw 20. The upper jaw 19 and the lower jaw 20 are rotatably connected by a first pin 18. The lower jaw 20 is rotatably connected to the tail end of the continuous segment 99 by a second pin 10.

[0059] The scheme has been further optimized, and the up-and-down bending drive assembly includes a rear knob 2, a reversing gear 4, and an up-and-down bending drive wire 5;

[0060] A first fixing post 23 is fixedly connected inside the outer casing 1. The rear knob 2 is connected to the first fixing post 23 via the mounting shaft 3. A second reserved hole 21 is opened at the rear end of the outer casing 1. The rear knob 2 extends out of the outer casing 1 through the second reserved hole 21.

[0061] A first pad 24 is fixedly connected inside the outer casing 1. A reversing gear 4 is rotatably connected to the first pad 24, and the axis of the reversing gear 4 is perpendicular to the axis of the rear knob 2. The reversing gear 4 meshes with the rear knob 2.

[0062] The upper and lower bending drive wire 5 is driven by the mounting shaft 3. Both ends of the upper and lower bending drive wire 5 are inserted into the continuous section 9 and fixed to the front end of the inner wall of the continuous section 9.

[0063] The scheme is further optimized, and 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 post 25 is fixedly connected inside the outer shell 1, and a rotating rod 12 is rotatably connected to the second fixed post 25. A third reserved hole 22 is opened at the top of the outer shell 1, and one end of the rotating rod 12 passes through the third reserved hole 22 and extends out of the outer shell 1.

[0065] The transmission gear 13 is fixedly connected to the rotating rod 12. The transmission gear 13 and the reversing gear 4 are coaxially arranged, and the rotating rod 12 and the reversing gear 4 are in rotational engagement.

[0066] The left and right bending drive wire 14 is driven by the rotating rod 12. Both ends of the left and right bending drive wire 14 are inserted into the continuous section 9 and fixed to the front end of the inner wall of the continuous section 9.

[0067] The rotating rod 12 and the left and right bending drive wires 14 are coupled with a high-friction mechanism. The rotating rod 12 drives the left and right bending drive wires 14, which in turn pull the continuous section 9 to deflect. The continuous section 9 is a corrugated tubular structure with through holes in its sidewalls along the axial direction. The ends of the left and right bending drive wires 14 pass through the through holes and are fixed to the ends of the through holes. The control of up and down is the same as the control of left and right, and will not be described in detail in this embodiment.

[0068] The solution is further optimized, and 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 outer casing 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.

[0070] A fourth reserved hole 28 is provided at the bottom of the outer casing 1, through which the front handle 16 and the rear handle 15 extend out of the outer casing 1;

[0071] The jaw opening and closing drive wire 17 has a ring-shaped structure, and the jaw opening and closing drive wire 17 is engaged with the front handle 16 and the first pin 18.

[0072] The design has been further optimized, and the locking components include a variable stiffness button 6, a connecting rod, a locking block, a pressing baffle 7, and a spring 8.

[0073] The bottom of the outer casing 1 has a fifth reserved hole 27, and 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 pad 29 is fixedly connected inside the outer casing 1, and the connecting rod passes through the second pad 29;

[0076] 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 abuts against the second pad 29, and the other end of the spring 8 abuts against the locking block;

[0077] A cuboid boss 26 is fixedly connected inside the outer casing 1. A locking block is slidably connected to the top surface of the cuboid boss 26. The locking block is in a limiting engagement with the reversing gear 4 and the transmission gear 13.

[0078] When the angle needs to be adjusted, push the stiffness adjustment button 6 forward. The locking block compresses the spring 8, at which point the locking block separates from the reversing gear 4 and the transmission gear 13, allowing the angle of the continuous segment 9 to be adjusted. Release the stiffness adjustment button 6, and the locking block is pressed by the spring 8, causing the locking block to abut against the reversing gear 4 and the transmission gear 13. The reversing gear 4 and the transmission gear 13 are locked by friction.

[0079] In a further optimized design, a sleeve 11 is installed at the front end of the continuous segment 9, and the sleeve 11 is fixed to the tail end of the continuous segment 9. The jaws are rotatably connected to the sleeve 11 via a second pin 10. The sleeve 11 and the second pin 10 are connected by a thread, allowing the angle of the operating end to be adjusted in advance.

[0080] The design is further optimized by providing a through hole at the rear end of the lower jaw 20, through which the jaw opening and closing drive wire 17 passes and engages with the first pin 18 for transmission.

[0081] High friction is used between the pin and the jaw opening and closing drive wire 17, or a toothed shape is set 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 opened and closed relative to each other through the first pin 18. The front handle 16 and the fixed shaft 30 rotate relative to each other. This ensures that the front handle 16 can rotate synchronously to drive the jaw opening and closing drive wire 17 to drive the transmission.

[0082] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0083] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery, characterized in that, It includes a handheld operating device, a continuous section (9), and a loosening clamp, wherein the handheld operating device and the loosening clamp are respectively installed at the beginning and end of the continuous section (9), and the handheld operating device includes: The outer shell (1) has a first reserved hole (31) at its front end, and the continuous body segment (9) is fixed on the first reserved hole (31); An up-and-down bending drive assembly is installed inside the housing (1) and is used to control the up-and-down bending of the continuous segment (9). A left-right bending drive assembly is installed inside the housing (1) and is used to control the left-right bending of the continuous segment (9). A jaw opening and closing drive assembly is installed at the bottom of the housing (1) and is used to control the opening and closing angle of the release pliers. The outer shell (1) is equipped with a locking component, which is in a limiting fit with the upper and lower bending drive component and the left and right bending drive component. The up-and-down bending drive assembly includes a rear knob (2), a reversing gear (4), and an up-and-down bending drive wire (5). The outer shell (1) is fixedly connected to a first fixed post (23), and the rear knob (2) is connected to the first fixed post (23) via a mounting shaft (3). The rear end of the outer shell (1) is provided with a second reserved hole (21), and the rear knob (2) extends out of the outer shell (1) through the second reserved hole (21). A first pad (24) is fixedly connected inside the outer casing (1). The reversing gear (4) is rotatably connected to the first pad (24), and the axis of the reversing gear (4) is perpendicular to the axis of the rear knob (2). The reversing gear (4) meshes with the rear knob (2). The upper and lower bending drive wire (5) is driven by the mounting shaft (3). Both ends of the upper and lower bending drive wire (5) are inserted into the continuous section (9) and fixed to the front end of the inner wall of the continuous section (9). The left and right bending drive assembly includes a swivel rod (12), a transmission gear (13), and a left and right bending drive wire (14). The outer shell (1) is fixedly connected to a second fixed post (25), and the rotating rod (12) is rotatably connected to the second fixed post (25). The top of the outer shell (1) is provided with a third reserved hole (22), and one end of the rotating rod (12) passes through the third reserved hole (22) and extends out of the outer shell (1). The transmission gear (13) is fixedly connected to the rotating rod (12). The transmission gear (13) and the reversing gear (4) are coaxially arranged. The rotating rod (12) and the reversing gear (4) are rotatably engaged. The left and right bending drive wire (14) is in transmission cooperation with the rotating rod (12). The two ends of the left and right bending drive wire (14) are inserted into the continuous section (9) and fixed to the front end of the inner wall of the continuous section (9). The locking assembly includes a variable stiffness button (6), a connecting rod, a locking block, a pressing baffle (7), and a spring (8); The bottom of the outer shell (1) is provided with a fifth reserved hole (27), and the variable stiffness button (6) is slidably connected in the fifth reserved hole (27); The connecting rod is fixed to the variable stiffness button (6); A second pad (29) is fixedly connected inside the outer shell (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) abuts against the second pad (29), and the other end of the spring (8) abuts against the locking block; A cuboid boss (26) is fixedly connected inside the outer shell (1). The locking block is slidably connected to the top surface of the cuboid boss (26). The locking block is in a limiting engagement with the reversing gear (4) and the transmission gear (13).

2. The handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery according to claim 1, characterized in that: The loosening clamp includes an upper jaw (19) and a lower jaw (20), the upper jaw (19) and the lower jaw (20) are rotatably connected by a first pin (18), and the lower jaw (20) is rotatably connected to the tail end of the continuous segment (9) by a second pin (10).

3. The handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery according to claim 2, characterized in that: 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). A fixed shaft (30) is fixedly connected inside the outer casing (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); The bottom of the outer casing (1) is provided with a fourth reserved hole (28), and the front handle (16) and the rear handle (15) extend out of the outer casing (1) through the fourth reserved hole (28). The jaw opening and closing drive wire (17) has a ring structure, and the jaw opening and closing drive wire (17) is in transmission cooperation with the front handle (16) and the first pin (18).

4. A handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery according to claim 2, characterized in that: A sleeve (11) is installed at the front end of the continuous segment (9), the sleeve (11) is fixed at the tail end of the continuous segment (9), and the jaws are rotatably connected to the sleeve (11) through the second pin (10).

5. A handheld release forceps with multi-degree-of-freedom adjustable angle stiffness for arthroscopic surgery according to claim 3, characterized in that: The lower jaw (20) has a through hole at its rear end, and the jaw opening and closing drive wire (17) passes through the through hole and engages with the first pin (18) for transmission.

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