Laparoscope with in-vitro angle-adjustable joint

Abstract

The invention discloses a laparoscope with an in-vitro angle-adjustable joint, and relates to the technical field related to medical instruments. The grasping forceps specifically comprise a grasping forceps body, the grasping forceps body is cut from the middle position to form a partition part, a push rod on the grasping forceps body is separated into an in-vivo rod and an in-vitro rod through the partition part, and the calipers and the grab handle are connected to the ends, away from the partition part, of the in-vivo rod and the in-vitro rod respectively. And bendable connecting pieces are arranged at the end parts, close to the partition part, of the in-vitro rod and the in-vivo rod. The connecting piece is arranged at the position between the in-vitro rod and the in-vivo rod, and then the limiting mechanism and the torsion assembly are arranged on the connecting piece, so that the problem of collision when the in-vitro rod and the lens are operated at the same time is solved, then the situation that an angle adjusting mechanism needs to invade into a body cavity for operation is avoided, the operation complexity is reduced, and the operation efficiency is improved. And during use, the angle can be conveniently adjusted in real time, so that the use convenience of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a laparoscope with an externally adjustable angle joint. Background Art

[0002] Laparoscopic surgical instruments include a variety of devices. Among them, laparoscopic grasping forceps are a type of instrument widely used in minimally invasive surgery. Laparoscopic surgery is a type of minimally invasive surgery. With the progress of medical technology, minimally invasive surgery has become more and more popular, and laparoscopic grasping forceps, as an important instrument among them, have also developed. In laparoscopic surgery, the grasping forceps can provide precise operation, which helps the smooth progress of minimally invasive surgery. It can be used to grasp and fix tissues. For example, in laparoscopic surgery, the grasping forceps can be used to grasp and fix tissues such as the gastric wall and intestinal tract for surgical operations. Moreover, the grasping forceps can temporarily fix the position of the hernia mesh and assist in percutaneous suture and ligation of abdominal wall bleeding points.

[0003] Commonly used laparoscopic grasping forceps devices in the prior art mainly include: conventional straight rod instruments, which adopt a rigid straight rod structure, and the instrument shaft and the handle are arranged in a straight line; bendable instruments in vivo, which can achieve distal bending through handle operation, but the adjustment requires interruption of the operation; multi-degree-of-freedom robotic arm systems, which have complex joint structures, but are bulky and costly. Especially for the commonly used conventional straight rod instruments, when in use, the straight rod instruments force the operator to be in a non-physiological position of spinal scoliosis and shoulder abduction for a long time. Secondly, when the instrument and the lens are coaxial for operation, the "chopstick effect" occurs, increasing the probability of instrument collision, and the existing angle adjustment mechanism needs to invade the body cavity for operation, increasing the complexity of the operation. Therefore, when the conventional straight rod instrument is in use, due to the inability to adjust the angle conveniently in real time, it is inconvenient to use. Summary of the Invention

[0004] The purpose of the present invention is to solve the disadvantages existing in the prior art, and to propose a laparoscope with an externally adjustable angle joint.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A laparoscope with an externally adjustable-angle joint includes a forceps body, which comprises an outer sleeve, a push rod slidably connected inside the outer sleeve, a caliper connected to one end of the forceps body, and a handle connected to the other end of the forceps body. The forceps body is cut at the middle position to form a partition part, which separates the push rod on the forceps body into an in-vivo rod and an ex-vivo rod. The caliper and the handle are respectively connected to the ends of the in-vivo rod and the ex-vivo rod away from the partition part. A bendable connecting piece is provided at the ends of the ex-vivo rod and the in-vivo rod close to the partition part. A limiting mechanism for limiting the bending angle of the connecting piece is provided on the partition part. The connecting piece passes through the limiting mechanism to connect the ex-vivo rod and the in-vivo rod. The handle can transmit the acting force to the caliper through the ex-vivo rod, the connecting piece and the in-vivo rod. The outer sleeves sleeved outside the in-vivo rod and the ex-vivo rod are respectively connected to both ends of the limiting mechanism. A torsion assembly is provided at one end of the limiting mechanism close to the ex-vivo rod, and the torsion assembly is used to change the connection relationship between the connecting piece and the ex-vivo rod into a rotational connection.

[0007] Preferably, it further includes an auxiliary plate connected to the outer sleeve of the forceps body. One end of the limiting mechanism is arranged on the auxiliary plate, and the auxiliary plate is used to support the limiting mechanism. The end of the in-vivo rod and one end of the connecting piece are rigidly connected, and the end of the ex-vivo rod and the other end of the connecting piece are rotationally connected.

[0008] Furthermore, the limiting mechanism includes a steering piece and rotating shafts connected to both ends of the steering piece. Through holes one are formed through both of the two rotating shafts. A through hole two is formed through the middle position of the steering piece. The through hole one and the through hole two are communicated with each other and can accommodate the connecting piece to pass through.

[0009] Based on the foregoing solution: Rotating grooves one and rotating grooves two are longitudinally symmetrically formed at both ends of the steering piece. A partition part is formed between the rotating groove one and the rotating groove two. The through hole two is formed on the center line of the partition. The transverse opening directions of the rotating groove one and the rotating groove two are longitudinally arranged and perpendicular to each other. Rotating protrusions are provided on both sides inside the rotating groove one and the rotating groove two. Rotating grooves corresponding to the rotating protrusions are formed at both ends of the rotating shaft. The rotating shaft is rotationally connected in the rotating groove, and the rotating groove on the rotating shaft is in contact with the rotating protrusion. The axes of the rotating shafts respectively installed in the rotating groove one and the rotating groove two are perpendicular to each other.

[0010] Further, a foot plate is connected to the rotating shaft. The rotating shaft is connected to one side surface of the auxiliary plate through the foot plate. One end of the outer sleeve sleeved outside the in-vivo rod penetrates through the auxiliary plate and is fixedly connected to the auxiliary plate. The through hole one on the rotating shaft located in the rotating groove one corresponds to the end of the in-vivo rod connected to the auxiliary plate.

[0011] In the above - mentioned solution, a better solution is as follows: There are two adjusting mechanisms on the steering member respectively for adjusting the rotational damping of the rotating shaft. The adjusting mechanism includes a limiting ring connected in the rotating groove, a device groove one opened in the rotating protrusion, a device groove two extending radially along the device groove one, a pin block slidably connected in the device groove two, and a spring connected to the pin block. A number of arc - shaped grooves are opened on the limiting ring, and the number of arc - shaped grooves are equidistantly arranged around the central axis of the limiting ring. One end of the pin block has an arc - shaped portion whose outer shape matches that of the arc - shaped groove, and the arc - shaped portion is in contact with the arc - shaped groove.

[0012] As a further solution of the present invention: The adjusting mechanism further includes a first threaded rod rotatably connected in the device groove one, a torsion wheel connected to one end of the first threaded rod and rotatably connected to the device groove one, an adjusting block threadedly connected to the first threaded rod, and a push rod slidably connected in the device groove two. The two ends of the spring are respectively connected to the pin block and the push rod, and the end of the push rod away from the spring is in contact with the top of the adjusting block.

[0013] Meanwhile, the top surface of the adjusting block is an inclined surface extending along the axial direction of the first threaded rod and gradually inclining, and a pushing groove is opened on the end surface of the push rod. One end of the adjusting block facing the push rod is provided with a sliding portion, and the sliding portion is slidably connected in the pushing groove.

[0014] As a preferred solution of the present invention: A fixing plate is provided on the rotating shaft connected in the rotating groove two, and the fixing plate is connected to the rotating shaft through a foot plate on the rotating shaft. The torsion assembly includes a rotating plate rotatably connected to the fixing plate. The outer sleeve sleeved outside the external rod is connected to the rotating plate. Groove rings and protruding rings that are rotatably connected to each other are respectively provided at the ends of the external rod and the connecting member. A damping ring is connected to the surface of the rotating plate in contact with the fixing plate.

[0015] Meanwhile, two locking components for locking the rotation of the rotating shaft are further provided on the steering member. The locking component includes a clamping ring hole opened in the rotating groove, a threaded hole opened in the rotating protrusion, a second threaded rod accommodated in the threaded hole and passing through the threaded hole, and a hand - turning wheel provided at the end of the second threaded rod away from the threaded hole.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. In the present invention, by arranging a connecting member at the position between the external rod and the internal rod, and then arranging a limiting mechanism and a torsion assembly on the connecting member, the problem that the external rod and the lens will collide when operating simultaneously is avoided. Then, the situation that the angle - adjusting mechanism needs to invade the body cavity for operation is avoided, reducing the surgical complexity. The angle can be adjusted conveniently and in real - time during use, thereby improving the convenience of the device during use.

[0018] 2. By arranging the connecting piece and the limiting mechanism outside the patient's body, the present invention can adjust the bending angle of the grasping forceps body outside the patient's body, so that the operation plane of the user is separated from the working plane of the instrument. The deflection angle of the external rod can be adjusted according to the comfort level and convenience, and the cervical spine load of the user can be reduced.

[0019] 3. In the present invention, two adjusting mechanisms for adjusting the rotational damping of the rotating shaft are provided on the steering member. When the ejector rod is at different positions on the inclined surface of the adjusting block, the extrusion force of the ejector rod on the spring will be different. Furthermore, through the spring, the contact force between the pin block and the arc-shaped groove of the limiting ring can be adjusted, and thus the friction force between the two can be adjusted. According to the actual use requirements, the rotational damping of the rotating shaft on the steering member can be changed, which is convenient for the user to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a three-dimensional structural schematic diagram of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0021] Figure 2 is a partial structural cross-sectional schematic diagram of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0022] Figure 3 is a Figure 2 magnified schematic diagram of the structure at A in a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0023] Figure 4 is a schematic diagram of the partition structure of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0024] Figure 5 is a three-dimensional structural schematic diagram of the limiting mechanism and the torsion assembly of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0025] Figure 6 is a three-dimensional structural schematic diagram of the steering member of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0026] Figure 7 is a Figure 5 planar structural schematic diagram of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0027] Figure 8 is a Figure 7 cross-sectional structural schematic diagram of a laparoscope with an externally adjustable angle joint proposed by the present invention;

[0028] Figure 9A laparoscope with an externally adjustable angle joint proposed by the present invention Figure 8 Schematic enlarged view of the structure at B in

[0029] Figure 10 A laparoscope with an externally adjustable angle joint proposed by the present invention Figure 8 Schematic enlarged view of the structure at C in

[0030] Figure 11 Schematic exploded view of a partial structure of a laparoscope with an externally adjustable angle joint proposed by the present invention.

[0031] In the figure: 1, grasping forceps body; 2, outer sleeve; 3, push rod; 301, inner rod; 302, outer rod; 4, caliper; 5, handle; 6, partition part; 7, connecting piece; 8, limiting mechanism; 9, torsion assembly; 10, auxiliary plate; 11, steering piece; 1101, through hole two; 1102, rotation groove one; 1103, rotation groove two; 1104, rotation protrusion; 12, rotating shaft; 120, through hole one; 1201, rotation groove; 13, foot plate; 14, limiting ring; 15, device groove one; 16, device groove two; 17, pin block; 1701, arc part; 18, spring; 19, arc groove; 20, threaded rod one; 21, torsion wheel; 22, ejector rod; 23, adjusting block; 24, ejecting groove; 25, sliding part; 26, fixing plate; 27, rotating plate; 28, groove ring; 29, protruding ring; 30, damping ring; 31, engaging ring hole; 32, threaded rod two; 33, hand wheel; 34, angle indicating bar; 35, indicating arrow. Detailed implementation manners

[0032] The technical solutions of the present invention will be further described in detail below in conjunction with the specific implementation manners.

[0033] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0034] A laparoscope with an externally adjustable angle joint, such as Figure 1 - Figure 11As shown in the figure, it includes a grasping forceps body 1, which is a structure of the prior art and mainly operates in a push-rod manner. The grasping forceps body 1 includes an outer sleeve 2, a push rod 3 slidably connected inside the outer sleeve 2, a caliper 4 connected to one end of the grasping forceps body 1, and a handle 5 connected to the other end of the grasping forceps body 1. By holding the handle 5 and applying a gripping force, the push rod 3 inside the outer sleeve 2 is used to drive the caliper 4 to open or clamp. The usage method will not be elaborated in detail. It also includes an auxiliary plate 10 connected to the outer sleeve 2 of the grasping forceps body 1. The grasping forceps body 1 is cut at the middle position to form a partition part 6. The partition part 6 separates the push rod 3 on the grasping forceps body 1 into a body inner rod 301 and a body outer rod 302. The caliper 4 and the handle 5 are respectively connected to the ends of the body inner rod 301 and the body outer rod 302 far from the partition part 6. A bendable connecting piece 7 is provided at the ends of the body outer rod 302 and the body inner rod 301 close to the partition part 6. This connecting piece 7 is a structure of the prior art and is not limited in the present invention. It is selected according to the actual usage scenario. When in use, first implant the body inner rod 301 into the patient's abdominal cavity and leave the body outer rod 302 outside the patient's body. At this time, deflect the body outer rod 302. Under the action of the connecting piece 7, it will not affect the placement angle of the body inner rod 301 in the abdominal cavity;

[0035] A limiting mechanism 8 for limiting the bending angle of the connecting member 7 is provided on the partition portion 6. The connecting member 7 passes through the limiting mechanism 8 and connects the external rod 302 and the internal rod 301. The handle 5 can transmit the acting force to the caliper 4 through the external rod 302, the connecting member 7 and the internal rod 301. The outer sleeve pipes 2 sleeved outside the internal rod 301 and the external rod 302 are respectively connected to both ends of the limiting mechanism 8. A torsion assembly 9 is provided at one end of the limiting mechanism 8 close to the external rod 302. The torsion assembly 9 is used to change the connection relationship between the connecting member 7 and the external rod 302 into a rotational connection. During use, the connecting member 7 is arranged in the limiting mechanism 8 so that the limiting mechanism 8 can act on the connecting member 7. Then, when the external rod 302 is deflected, the connecting member 7 will be bent by the limiting mechanism 8. The limiting mechanism 8 can bend the connecting member 7 to a certain angle and fix it, avoiding the situation where the connecting member 7 cannot support the external rod 302. By using the limiting mechanism 8, the hands can be liberated and it is convenient to control the bending angle of the connecting member 7. Secondly, under the action of the torsion assembly 9, it is convenient for the handle 5 to rotate with the position of the user's arm, and the handle 5 can be rotated according to the comfortable angle of the user. And when the handle 5 rotates, it will not affect the pushing and pulling of the handle 5 on the external rod 302, the connecting member 7 and the internal rod 301. During this process, by arranging the connecting member 7 at the position between the external rod 302 and the internal rod 301, and then arranging the limiting mechanism 8 and the torsion assembly 9 on the connecting member 7, the problem that the external rod 302 and the lens will collide when operating simultaneously is avoided. Then, the situation that the angle adjustment mechanism needs to invade the body cavity for operation is avoided, reducing the surgical complexity, and the angle can be adjusted conveniently and in real time during use, thereby improving the convenience of the device during use.

[0036] Among them, one end of the limiting mechanism 8 is arranged on the auxiliary plate 10, and the auxiliary plate 10 is used to support the limiting mechanism 8. The end of the internal rod 301 and one end of the connecting member 7 are rigidly connected, and the end of the external rod 302 and the other end of the connecting member 7 are rotationally connected. Therefore, it is convenient for the rotation adjustment of the handle 5 and does not affect the traction and pushing of the internal rod 301.

[0037] To solve the problem that the connecting member 7 can pass through the limiting mechanism 8 and connect the external rod 302 and the internal rod 301; as Figure 5 - Figure 11As shown, the limiting mechanism 8 includes a steering member 11 and a rotating shaft 12 connected to both ends of the steering member 11, and the two rotating shafts 12 are each provided with a through hole 1201, and a through hole 2 1101 is provided in the middle of the steering member 11. The through hole 1201 is communicated with the through hole 2 1101 and can accommodate the connecting member 7 to pass through, so that when the connecting mechanism is deflected at an angle, the connecting member 7 can be limited by the through hole 1201 and the through hole 2 1101, so that the connecting member 7 will not be stuck on the structure of the limiting mechanism 8, so that the connecting member 7 can transmit the force more conveniently and effectively when in use.

[0038] A rotation groove 1102 and a rotation groove 2 1103 are longitudinally symmetrically provided at both ends of the steering member 11, a partition portion 6 is formed between the rotation groove 1102 and the rotation groove 2 1103, the through hole 2 1101 is provided on the center line of the partition, the lateral opening directions of the rotation groove 1102 and the rotation groove 2 1103 are longitudinally arranged and perpendicular to each other, a rotation protrusion 1104 is provided on both sides of the interior of the rotation groove 1102 and the rotation groove 2 1103, and a rotation groove 1201 corresponding to the rotation protrusion 1104 is provided on both ends of the rotating shaft 12, The rotating shaft 12 is rotatably connected in the rotating groove, and the rotating groove 1201 on the rotating shaft 12 contacts the rotating protrusion 1104. The rotating groove refers to the rotating groove 1102 and the rotating groove 2 1103, and the axes of the rotating shafts 12 respectively installed in the two rotating grooves are perpendicular to each other. Therefore, when the steering member 11 rotates on the rotating shaft 12 in the rotating groove 1102, the angle of the external rod 302 is adjusted in the left and right directions. When the rotating shaft 12 in the rotating groove 2 1103 rotates, the angle of the external rod 302 is adjusted in the front and back directions.

[0039] A foot plate 13 is connected to the rotating shaft 12, and the rotating shaft 12 is connected to one side surface of the auxiliary plate 10 through the foot plate 13. One end of the outer sleeve 2 arranged outside the inner rod 301 passes through the auxiliary plate 10 and is fixedly connected to the auxiliary plate 10. The through hole 1201 on the rotating shaft 12 located in the rotating groove 1102 corresponds to the end of the inner rod 301 connected to the auxiliary plate 10, which is convenient for the connection part 7 to connect with the inner rod 301. When the inner rod 301 is pushed, the outer sleeve 2 on which it is arranged will not move, which is convenient for the inner rod 301 to slide in the outer sleeve 2.

[0040] In order to solve the problem of facilitating users to make preliminary judgments on angle changes when adjusting the angle; Figure 7 - Figure 11As shown in the figure, two adjusting mechanisms for adjusting the rotational damping of the rotating shaft 12 are provided on the steering member 11. The adjusting mechanism includes a limiting ring 14 connected in the rotating groove 1201, a first device groove 15 opened in the rotating protrusion 1104, a second device groove 16 radially extending along the first device groove 15, a pin block 17 slidably connected in the second device groove 16, and a spring 18 connected to the pin block 17. A plurality of arc-shaped grooves 19 are opened on the limiting ring 14, and the plurality of arc-shaped grooves 19 are equidistantly arranged around the central axis of the limiting ring 14. One end of the pin block 17 has an arc-shaped portion 1701 whose outer shape matches the outer shape of the arc-shaped groove 19, and the arc-shaped portion 1701 is in contact with the arc-shaped groove 19. When the rotating shaft 12 and the steering member 11 rotate relative to each other, the positions of the pin block 17 and the limiting ring 14 will change. When the pin block 17 moves on the arc-shaped groove 19 in the limiting ring 14, it will collide with the arc-shaped groove 19, thereby generating a sound, which is convenient for the user to judge the magnitude of the offset angle. Secondly, the contact between the pin block 17 and the limiting ring 14 also increases the friction between the two, so that after adjusting the angle, it will not deflect immediately due to the action of gravity;

[0041] Next, the adjusting mechanism further includes a first threaded rod 20 rotatably connected in the first device groove 15, a torsion wheel 21 connected to one end of the first threaded rod 20 and rotatably connected to the first device groove 15, an adjusting block 23 threadedly connected to the first threaded rod 20, and a top rod 22 slidably connected in the second device groove 16. Both ends of the spring 18 are respectively connected to the pin block 17 and the top rod 22. The end of the top rod 22 away from the spring 18 is in contact with the top of the adjusting block 23. By rotating the first threaded rod 20, the position of the adjusting block 23 can be adjusted;

[0042] The top surface of the adjusting block 23 is an inclined surface extending along the axial direction of the first threaded rod 20 and gradually inclining, and a top groove 24 is opened on the end surface of the top rod 22. A sliding portion 25 is provided on one end of the adjusting block 23 facing the adjusting block 23, and the sliding portion 25 is slidably connected in the top groove 24. Therefore, when the top rod 22 is at different positions on the inclined surface of the adjusting block 23, the extrusion force of the top rod 22 on the spring 18 will be different. Thus, through the spring 18, the contact force between the pin block 17 and the arc-shaped groove 19 of the limiting ring 14 can be adjusted, and thus the friction between the two can be adjusted. The rotational damping of the rotating shaft 12 on the steering member 11 can be changed according to actual use requirements, which is convenient for the user to use;

[0043] Secondly, angle indicating strips 34 are provided on the side walls of the steering member 11 where the two torsion wheels 21 are located, and an indicating arrow 35 is connected to the foot plate 13 of the rotating shaft 12. The indicating end of the indicating arrow 35 extends to the angle indicating strip 34, which is convenient for the user to observe the deflection angles in all directions when using the limiting mechanism 8 to bend the connecting member 7.

[0044] To solve the problem that the handle 5 can rotate with the position of the user's arm; as Figure 2 and Figure 3 shown, a fixing plate 26 is provided on the rotating shaft 12 connected in the second rotating groove 1103, and the fixing plate 26 is connected to the rotating shaft 12 through the foot plate 13 on the rotating shaft 12. The torsion assembly 9 includes a rotating plate 27 rotatably connected to the fixing plate 26. The outer sleeve 2 sleeved outside the external rod 302 is connected to the rotating plate 27. Groove rings 28 and protruding rings 29 that are rotatably connected to each other are respectively provided at the ends of the external rod 302 and the connecting member 7. A damping ring 30 is connected to the surface of the rotating plate 27 in contact with the fixing plate 26. According to actual use, a suitable damping ring 30 is selected so that the rotational friction coefficient between the rotating plate 27 and the fixing plate 26 is within a suitable range, which is convenient for the user to use and does not make the rotation too loose.

[0045] Finally, two locking assemblies for locking the rotation of the rotating shaft 12 are further provided on the steering member 11. The locking assemblies include a clamping ring hole 31 opened in the rotating groove 1201, a threaded hole opened in the rotating protrusion 1104, a second threaded rod 32 accommodated in the threaded hole and passing through the threaded hole, and a handwheel 33 provided at the end of the second thread away from the threaded hole.

[0046] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A laparoscope with an externally adjustable angle joint, comprising a grasping forceps body (1), wherein the grasping forceps body (1) comprises an outer sleeve (2), a push rod (3) slidably connected in the outer sleeve (2), a clamp (4) connected to one end of the grasping forceps body (1) and a handle (5) connected to the other end of the grasping forceps body (1), characterized in that: The grasping forceps body (1) is cut at a middle position to form a partition portion (6), the partition portion (6) separates the push rod (3) on the grasping forceps body (1) into an internal rod (301) and an external rod (302), the caliper (4) and the handle (5) are respectively connected to the ends of the internal rod (301) and the external rod (302) away from the partition portion (6), and the ends of the external rod (302) and the internal rod (301) close to the partition portion (6) are provided with a bendable connecting piece (7); A limiting mechanism (8) for limiting the bending angle of the connecting member (7) is provided on the partition portion (6); the connecting member (7) passes through the limiting mechanism (8) and connects the external rod (302) with the internal rod (301); the handle (5) can transmit the force to the caliper (4) through the external rod (302), the connecting member (7) and the internal rod (301); the internal rod (301) and the outer sleeve (2) sleeved on the external rod (302) are respectively connected to the two ends of the limiting mechanism (8); a torsion assembly (9) is provided on one end of the limiting mechanism (8) close to the external rod (302); the torsion assembly (9) is used to change the connection relationship between the connecting member (7) and the external rod (302) into a rotational connection.

2. The laparoscope with an externally adjustable angle joint according to claim 1, characterized in that: It also comprises an auxiliary plate (10) connected to the outer sleeve (2) of the grasping forceps body (1), one end of the limiting mechanism (8) is arranged on the auxiliary plate (10), and the auxiliary plate (10) is used to support the limiting mechanism (8), the end of the internal rod (301) and one end of the connecting piece (7) are rigidly connected, and the end of the external rod (302) and the other end of the connecting piece (7) are rotatably connected.

3. The laparoscope with an externally adjustable angle joint according to claim 2, characterized in that: The limiting mechanism (8) comprises a steering member (11) and a rotating shaft (12) connected to both ends of the steering member (11); each of the two rotating shafts (12) is provided with a through hole 1 (1201); a through hole 2 (1101) is provided in the middle of the steering member (11); the through hole 1 (1201) is connected to the through hole 2 (1101) and can accommodate the connection member (7) to pass through.

4. The laparoscope with an externally adjustable angle joint according to claim 3, characterized in that: The two ends of the steering member (11) are longitudinally symmetrically provided with a first rotation groove (1102) and a second rotation groove (1103), a partition (6) is formed between the first rotation groove (1102) and the second rotation groove (1103), the second through hole (1101) is provided on the center line of the partition, the lateral opening directions of the first rotation groove (1102) and the second rotation groove (1103) are longitudinally arranged and perpendicular to each other, the first rotation groove (1102) and the second rotation groove (1103) are longitudinally symmetrically provided with a first rotation groove (1102) and a second rotation groove (1103) Rotating protrusions (1104) are provided on both sides of the interior of the rotating shaft (12), and rotating grooves (1201) corresponding to the rotating protrusions (1104) are provided on both ends of the rotating shaft (12), the rotating shaft (12) is rotatably connected in the rotating groove, and the rotating groove (1201) on the rotating shaft (12) is in contact with the rotating protrusion (1104), and the axes of the rotating shaft (12) respectively installed in the rotating groove 1 (1102) and the rotating groove 2 (1103) are perpendicular to each other.

5. The laparoscope with an externally adjustable angle joint according to claim 4, characterized in that: A foot plate (13) is connected to the rotating shaft (12), and the rotating shaft (12) is connected to a side surface of the auxiliary plate (10) through the foot plate (13); one end of the outer sleeve (2) arranged outside the inner rod (301) passes through the auxiliary plate (10) and is fixedly connected to the auxiliary plate (10); a through hole (1201) on the rotating shaft (12) located in the rotating groove (1102) corresponds to the end of the inner rod (301) connected to the auxiliary plate (10).

6. The laparoscope with an externally adjustable angle joint according to claim 4, characterized in that: The steering member (11) is provided with two adjustment mechanisms for adjusting the rotation damping of the rotating shaft (12), the adjustment mechanisms comprising a limit ring (14) connected to the rotating groove (1201), a first device groove (15) provided in the rotating protrusion (1104), a second device groove (16) extending radially from the first device groove (15), a pin block (17) slidably connected to the second device groove (16), and a spring (18) connected to the pin block (17); the limit ring (14) is provided with a plurality of arc grooves (19), the plurality of arc grooves (19) are equidistantly arranged around the central axis of the limit ring (14); one end of the pin block (17) has an arc portion (1701) matching the arc portion (19), and the arc portion (1701) is in contact with the arc groove (19).

7. The laparoscope with an externally adjustable angle joint according to claim 6, characterized in that: The adjustment mechanism also includes a threaded rod (20) rotatably connected in the device groove (15), a torsion wheel (21) connected to one end of the threaded rod (20) and rotatably connected to the device groove (15), an adjustment block (23) threadedly connected to the threaded rod (20), and a push rod (22) slidably connected in the device groove (16), the two ends of the spring (18) are respectively connected to the pin block (17) and the push rod (22), and the end of the push rod (22) away from the spring (18) contacts the top of the adjustment block (23).

8. The laparoscope with an externally adjustable angle joint according to claim 7, characterized in that: The top surface of the adjusting block (23) is an inclined surface extending axially along the threaded rod (20) and gradually inclined, and a push groove (24) is provided on the end surface of the push rod (22), and a sliding part (25) is provided on the end of the adjusting block (23) facing the adjusting block (23), and the sliding part (25) is slidably connected in the push groove (24).

9. The laparoscope with an externally adjustable angle joint according to claim 4, characterized in that: A fixed plate (26) is provided on the rotating shaft (12) connected to the rotating groove (1103), and the fixed plate (26) is connected to the rotating shaft (12) through a foot plate (13) on the rotating shaft (12). The torsion assembly (9) includes a rotating plate (27) rotatably connected to the fixed plate (26), an outer sleeve (2) sleeved on the outside of the external rod (302) is connected to the rotating plate (27), and a groove ring (28) and a protruding ring (29) that are rotatably connected to each other are respectively provided on the end of the external rod (302) and the end of the connecting member (7), and a damping ring (30) is connected to the side of the rotating plate (27) that contacts the fixed plate (26).

10. The laparoscope with an externally adjustable angle joint according to claim 4, characterized in that: The steering member (11) is also provided with two locking assemblies respectively used for locking the rotation of the rotating shaft (12), the locking assemblies comprising a snap ring hole (31) provided in the rotating groove (1201), a threaded hole provided in the rotating protrusion (1104), and a second threaded rod (32) accommodated in the threaded hole and passing through the threaded hole, and a hand wheel (33) is provided on one end of the second threaded rod away from the threaded hole.

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