Multi-degree-of-freedom operating forceps

Abstract

The invention provides a pair of multi-degree-of-freedom operating forceps, which relates to the technical field of medical instruments and comprises a rod body, a clamp holder, a transmission shaft, a deflection mechanism and a handle, the clamping device is arranged at one end of the rod body and comprises a clamping plier leaf and a thread driving mechanism, and the thread driving mechanism is used for driving the clamping plier leaf to do clamping motion; the transmission shaft is arranged in the rod body; the handle is arranged at the other end of the rod body and comprises a trigger connecting rod mechanism and an acceleration gear set, the trigger connecting rod mechanism is connected with a transmission shaft through the acceleration gear set, and the other end of the transmission shaft is connected with a thread driving mechanism. The deflection mechanism comprises a control end quaternion joint, an execution end quaternion joint, a connecting rod mechanism and a deflection transmission connecting rod, the connecting rod mechanism is arranged in the rod body, the control end quaternion joint and the execution end quaternion joint are connected through the connecting rod mechanism, and the execution end quaternion joint is connected with the clamp holder; and the control end quaternion joint is connected with a handle through a deflection transmission connecting rod. Omnidirectional deflection and clamping of the tail end clamping device are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-degree-of-freedom surgical forceps. Background Art

[0002] Laparoscopic surgery is one of the greatest advances in contemporary surgery. Compared to traditional open surgery, it offers advantages such as smaller incisions, faster recovery, less postoperative pain, and fewer complications. During laparoscopic surgery, doctors insert surgical instruments and an endoscope through tiny incisions to observe and manipulate internal organs.

[0003] The flexibility of surgical instruments is crucial for laparoscopic surgery. However, since the instruments must rotate around the incision, this limits their freedom of movement, making it difficult for surgeons to operate from the ideal position and angle. To address this issue, several multi-degree-of-freedom surgical forceps with wrist joints have emerged.

[0004] Existing multi-DOF surgical forceps typically use cable drive to achieve wrist joint movement. However, cable drive has some inherent disadvantages:

[0005] 1. Pre-tightening problem: the cable needs to be pre-tightened to work properly, and the pre-tightened cable will creep due to the tension, resulting in a decrease in transmission accuracy.

[0006] 2. Risk of fatigue fracture: After long-term use, the cable may suffer fatigue fracture, affecting surgical safety.

[0007] 3. Precision limitation: The precision of cable transmission is affected by factors such as the elasticity and friction of the cable itself, making it difficult to achieve high-precision operation.

[0008] Therefore, it is necessary to improve the existing surgical forceps technology to overcome the defects of the existing technology. Summary of the Invention

[0009] In order to overcome the problems existing in the related art, the purpose of the present invention is to provide a multi-degree-of-freedom surgical forceps, which adopts a cable-free drive method and utilizes a combination of a connecting rod mechanism, a gear mechanism and a threaded mechanism to achieve omnidirectional deflection and high-precision clamping of the end clamp, so as to overcome the problems in the prior art that the cable transmission accuracy is easily affected by the preload, there is a risk of fatigue fracture, and it is difficult to achieve high-precision operation.

[0010] A multi-degree-of-freedom surgical forceps, comprising:

[0011] shaft;

[0012] A clamper is provided at one end of the rod body, comprising a clamping jaw and a threaded drive mechanism, wherein the threaded drive mechanism is used to drive the clamping jaw to perform a clamping motion;

[0013] a transmission shaft, disposed in the shaft;

[0014] a handle, disposed at the other end of the shaft, the handle comprising a trigger linkage mechanism and an acceleration gear set, the trigger linkage mechanism being connected to one end of the transmission shaft via the acceleration gear set, and the other end of the transmission shaft being connected to the threaded drive mechanism;

[0015] The yaw mechanism includes a quaternion joint at the control end, a quaternion joint at the execution end, a connecting rod mechanism and a yaw transmission connecting rod. The connecting rod mechanism is arranged in the rod body. The quaternion joint at the control end and the quaternion joint at the execution end are connected through the connecting rod mechanism. The quaternion joint at the execution end is connected to the clamper. The quaternion joint at the control end is connected to the handle through the yaw transmission connecting rod.

[0016] Its motion process includes clamping motion and yaw motion.

[0017] Clamping movement:

[0018] The operator pulls the trigger linkage.

[0019] The trigger linkage mechanism drives the acceleration gear set to rotate.

[0020] The speed-up gear set transmits the rotational motion to the drive shaft.

[0021] The drive shaft transmits the rotational motion to the threaded drive mechanism within the holder.

[0022] The threaded drive mechanism converts the rotary motion into linear motion, driving the clamping jaws to open and close to achieve clamping.

[0023] Yaw motion:

[0024] The operator tilts the handle relative to the shaft.

[0025] The yaw of the handle is transmitted to the quaternion joint of the control end through the yaw transmission link.

[0026] The motion of the quaternion joint at the control end is transmitted to the quaternion joint at the execution end through the linkage mechanism, so that the quaternion joint at the execution end and the quaternion joint at the control end deflect synchronously.

[0027] The quaternion joint at the actuator end is connected to the gripper, driving the gripper to yaw relative to the shaft.

[0028] The yaw mechanism utilizes a quaternion joint, combined with a linkage mechanism and yaw drive link within the shaft. This allows the clamp to yaw in all directions relative to the handle, providing greater operational flexibility during surgery and enabling surgeons to approach and manipulate the surgical target from a wider range of angles and positions. The handle drives a threaded drive mechanism within the clamp via a trigger linkage, an acceleration gear train, and a drive shaft. This drive mechanism converts rotational motion into linear motion, precisely controlling the opening and closing of the clamping blades and achieving reliable tissue grip. The placement of the drive shaft, linkage, and yaw drive link within the shaft results in a compact design and a smaller outer diameter for minimally invasive surgery. The trigger linkage, connected to the drive shaft via an acceleration gear train, converts small trigger movements into large-angle rotations of the drive shaft, enabling more precise control of the opening and closing distance of the clamping blades.

[0029] Furthermore, the control end quaternion joint includes a control end link frame, a rod body control end link frame, a control end cross-axis link, a control end parallel link and a rod body control end cross link;

[0030] The control end connecting rod frame is connected to the control end cross-axis connecting rod, the control end cross-axis connecting rod is connected to the control end parallel connecting rod, the control end parallel connecting rod is connected to the rod body control end cross connecting rod, and the rod body control end cross connecting rod is connected to the rod body control end connecting rod frame;

[0031] The quaternion joint of the control end is connected to the connecting rod mechanism through the connecting rod frame of the rod body control end;

[0032] The control end quaternion joint is connected to the handle through the control end connecting rod frame.

[0033] The handle deflects relative to the rod body, driving the deflection transmission connecting rod to move.

[0034] The movement of the yaw transmission link drives the links in the quaternion joint of the control end (the cross-axis link of the control end, the parallel link of the control end, and the cross link of the rod body control end) to produce relative motion.

[0035] Due to the special structure and connection relationship of the quaternion joint (each link is connected by a revolute pair), the relative movement of these links will cause the control end link frame to yaw relative to the rod body control end link frame.

[0036] The quaternion joint at the control end is the key component for transmitting the handle's yaw motion to the yaw mechanism. Through the revolute connections of multiple links, the handle's yaw motion is converted into the yaw of the control end's link frame relative to the rod body.

[0037] Furthermore, the execution end quaternion joint includes an execution end link frame, a rod body execution end link frame, an execution end cross-axis link, an execution end parallel link and a rod body execution end cross link;

[0038] The execution end connecting rod frame is connected to the execution end cross-axis connecting rod, the execution end cross-axis connecting rod is connected to the execution end parallel connecting rod, the execution end parallel connecting rod is connected to the rod body execution end cross connecting rod, and the rod body execution end cross connecting rod is connected to the rod body execution end connecting rod frame;

[0039] The quaternion joint of the execution end is connected to the connecting rod mechanism through the connecting rod frame of the rod body execution end;

[0040] The execution end quaternion joint is connected to the clamper through the execution end connecting rod frame.

[0041] The yaw of the quaternion joint at the control end is transmitted to the quaternion joint at the execution end through a linkage mechanism (parallelogram mechanism).

[0042] The links in the quaternion joint of the actuator end (the cross-axis link of the actuator end, the parallel link of the actuator end, and the cross link of the shaft actuator end) produce relative motion.

[0043] Due to the special structure and connection relationship of the quaternion joint (each link is connected by a revolute pair), the relative movement of these links will cause the actuator end link frame to swing relative to the rod body actuator end link frame, and the swing angle is the same as that of the control end quaternion joint.

[0044] The quaternion joint at the actuator end is the key component in achieving gripper yaw. Through the revolute connections of multiple links, the motion transmitted by the parallelogram mechanism is converted into yaw of the actuator end link frame relative to the rod body, thereby driving the gripper yaw.

[0045] The quaternion joints at the actuator end and the quaternion joints at the control end have similar structures and are connected through a parallelogram mechanism, which ensures that the yaw of the quaternion joints at the actuator end is synchronized with the yaw of the quaternion joints at the control end (and the handle).

[0046] Furthermore, the yaw transmission link is connected to the cross link at the control end of the rod body and the cross link at the execution end of the rod body through a revolute pair respectively;

[0047] One end of the cross link at the control end of the rod body away from the yaw transmission link is connected to the rod control end link frame via a revolute pair;

[0048] One end of the cross link at the execution end of the rod body away from the yaw transmission link is connected to the rod body execution end link frame via a revolute pair;

[0049] The connecting rod frame at the control end of the rod body and the connecting rod frame at the execution end of the rod body are both connected to the rod body through a revolute pair;

[0050] The rod body, the rod body execution end connecting rod frame, the rod body control end connecting rod frame, the yaw transmission connecting rod, the rod body control end cross connecting rod and the rod body execution end cross connecting rod constitute a parallelogram mechanism.

[0051] The handle swings, driving the swing transmission connecting rod to move.

[0052] The yaw transmission link drives the cross link at the control end of the rod body and the cross link at the execution end of the rod body to move through the rotating pair.

[0053] Due to the geometric constraints of the parallelogram mechanism, the movements of the cross-link at the control end of the shaft and the cross-link at the execution end of the shaft are synchronized and have the same angle.

[0054] The motions of the cross-link at the control end of the rod body and the cross-link at the execution end of the rod body are respectively transmitted to the quaternion joint at the control end and the quaternion joint at the execution end, so that they yaw synchronously.

[0055] A parallelogram mechanism synchronously and accurately transmits the handle's yaw motion to the quaternion joint at the actuator end, thereby driving the gripper's yaw motion. The parallelogram mechanism boasts a 1:1 transmission ratio, ensuring precise motion. The parallelogram mechanism is a stable transmission structure that reliably transmits motion and is resistant to deformation or failure.

[0056] Furthermore, the holder further comprises:

[0057] a holder housing extending along the axial direction of the shaft;

[0058] a threaded slider slidably disposed within the holder housing;

[0059] Clamp connecting rod;

[0060] The clamping jaws are pivotally connected to the clamp housing, and the clamping jaws are pivotally connected to the threaded slider via the jaw connecting rod;

[0061] An execution end transmission screw is provided at the end of the transmission shaft, and the execution end transmission screw is threadedly connected to the threaded slider.

[0062] The transmission shaft rotates, driving the transmission screw at the actuator end to rotate.

[0063] The transmission screw at the actuator end is threadedly connected to the threaded slider to convert the rotational motion into the linear motion of the threaded slider.

[0064] The threaded slider slides axially within the holder housing.

[0065] The sliding of the threaded slider drives the clamping jaws to rotate around the pivot point between the clamping jaws and the clamp housing through the clamping jaw connecting rod, thereby realizing the opening and closing of the clamping jaws.

[0066] The combination of the clamp housing, threaded slider, clamp connecting rod, and clamping jaws forms a slider-crank mechanism, converting the linear motion of the threaded slider into the opening and closing motion of the clamping jaws, thus achieving the clamping function. The actuator drive screw at the end of the drive shaft is threadedly connected to the threaded slider. By controlling the rotation of the drive shaft, the displacement of the threaded slider, and thus the degree of opening and closing of the clamping jaws, can be precisely controlled. The clamping jaws are pivotally connected to the clamp housing, ensuring the stability of the clamping motion.

[0067] Furthermore, the transmission shaft includes:

[0068] An actuator transmission screw is located at one end of the transmission shaft close to the clamp;

[0069] Two sets of double universal joint couplings;

[0070] A shaft body extending axially along the shaft;

[0071] A transmission shaft power input joint, located at one end of the transmission shaft close to the handle;

[0072] The execution end transmission screw, the first set of double universal joint couplings, the shaft body, the second set of double universal joint couplings and the transmission shaft power input joint are connected in sequence along the axial direction of the rod body.

[0073] The acceleration gear set in the handle outputs the rotational motion and transmits it to the power input section of the transmission shaft.

[0074] The power input joint of the transmission shaft drives the shaft to rotate.

[0075] The shaft body transmits the rotational motion to the actuator drive screw through two sets of double universal joint couplings.

[0076] The actuator drives the screw to rotate.

[0077] The shaft transmits the rotational motion generated by the handle to the threaded drive mechanism of the clamp.

[0078] The drive shaft transmits the rotational motion generated by the handle to the threaded drive mechanism of the clamp. Two sets of dual universal joint couplings ensure that the drive shaft maintains rotational motion even when the forceps deflect, preventing jamming or loss of transmission efficiency due to deflection. The drive shaft's power input section connects to the handle's acceleration gear set, while the actuator's drive screw connects to the clamp's threaded slider, enabling power transmission between the handle and clamp.

[0079] The handle further comprises a handle housing;

[0080] The acceleration gear set and the trigger linkage mechanism are both arranged in the handle housing;

[0081] The acceleration gear set is a four-stage gear transmission, and the trigger connecting rod mechanism is a double rocker mechanism.

[0082] The operator pulls the trigger linkage mechanism on the handle.

[0083] The trigger linkage mechanism drives the acceleration gear set to rotate.

[0084] The acceleration gear set accelerates the rotational motion.

[0085] The handle is the component through which the operator applies force. Through the trigger linkage mechanism and the acceleration gear set, the operator's force is converted into rotational motion, providing power to the drive shaft. The four-stage gear transmission of the acceleration gear set can amplify the smaller rotation angle generated by the trigger linkage mechanism, thereby allowing the drive shaft to obtain a larger rotation angle, and ultimately making the control of the opening and closing of the clamp more precise. The design of the double rocker mechanism can provide a more uniform torque output within the range of motion of the trigger, making it easier for the operator to control the clamping force and feel the feedback force of the clamping. The design of the double rocker mechanism can provide a more uniform torque output within the range of motion of the trigger, making it easier for the operator to control the clamping force.

[0086] Furthermore, the acceleration gear set includes:

[0087] The first gear shaft is provided with a first-stage bevel gear;

[0088] The second gear shaft is provided with a secondary bevel gear and a secondary spur gear, wherein the secondary bevel gear is meshed with the primary bevel gear;

[0089] The third gear shaft is provided with a three-stage double-layer gear, and the three-stage double-layer gear is meshed with the two-stage spur gear;

[0090] The fourth gear shaft is provided with a four-stage double-layer gear, and the four-stage double-layer gear is meshed with the three-stage double-layer gear;

[0091] The fifth gear shaft is provided with a five-stage spur gear, and the five-stage spur gear is meshed with the four-stage double-layer gear.

[0092] The trigger linkage mechanism drives the fifth gear shaft to rotate, and the five-stage spur gear on the fifth gear shaft drives the four-stage double-layer gear on the fourth gear shaft to rotate.

[0093] The four-stage double-layer gear on the fourth gear shaft drives the three-stage double-layer gear on the third gear shaft to rotate.

[0094] The three-stage double-layer gear on the third gear shaft drives the two-stage spur gear on the second gear shaft to rotate.

[0095] The secondary spur gear and the secondary bevel gear on the second gear shaft drive the primary bevel gear on the first gear shaft to rotate.

[0096] The rotation output of the first gear shaft is transmitted to the transmission shaft.

[0097] Through a five-stage meshing transmission consisting of five spur gears, four double-stage gears, three double-stage gears, two spur gears, two bevel gears, and a first bevel gear (including a first bevel gear that changes the direction of rotation), the rotation speed is gradually increased, ultimately achieving a higher rotational speed for the first gear shaft. The combination of the first and second bevel gears can change the direction of rotation by 90 degrees, adapting to the internal layout of the surgical forceps. The double-stage gear design allows for multi-stage speed change within a compact space.

[0098] Furthermore, the trigger-link mechanism includes a gear crank, a trigger link, a trigger crank, a trigger, and a trigger shaft;

[0099] The trigger is fixedly connected to the trigger crank;

[0100] The trigger crank, the trigger connecting rod and the gear crank are sequentially connected via a rotating pair;

[0101] The gear crank is fixedly connected to the fifth-stage spur gear on the fifth gear shaft;

[0102] The handle shell is provided with a mounting portion for mounting the trigger shaft.

[0103] The operator pulls the trigger.

[0104] The trigger drives the trigger crank fixedly connected thereto to rotate around the trigger shaft.

[0105] The trigger crank drives the gear crank to rotate through the trigger connecting rod.

[0106] The gear crank drives the fifth gear shaft fixedly connected thereto and the five-stage spur gear on the fifth gear shaft to rotate, thereby starting the acceleration gear set.

[0107] The trigger linkage converts the operator's trigger action into rotation of the gear crank. The gear crank is fixedly connected to the fifth gear shaft (output shaft) of the acceleration gear train, transmitting the rotational motion generated by the trigger linkage to the acceleration gear train. The dual-rocker design ensures a relatively smooth change in output torque throughout the effective trigger travel, making it easier for the operator to control clamping force.

[0108] Furthermore, the outer diameter of the shaft is 8 to 12 mm.

[0109] The outer diameter range of 8 to 12 mm meets the instrument size requirements for minimally invasive surgery, allowing the forceps to enter the body through smaller incisions. While meeting the requirements of minimally invasive surgery, this size range also ensures that the shaft has sufficient strength and rigidity to withstand the forces and moments during surgery.

[0110] The beneficial effects of the present invention are:

[0111] The multi-degree-of-freedom surgical forceps provided by the present invention achieves all-round deflection and precise clamping of the clamp by integrating the clamp, deflection mechanism, transmission shaft and handle into the rod body, and adopts the coordinated effect of quaternion joint deflection mechanism, thread-driven clamping mechanism and trigger connecting rod mechanism and acceleration gear set in the handle, while ensuring the compact structure and high efficiency of transmission of the surgical forceps; the deflection mechanism enables the doctor to flexibly adjust the direction and angle of the clamp during surgery, and the handle transmits the rotational motion to the clamp through the connection of multiple mechanisms, thereby controlling the clamping motion. The overall structure is compact and suitable for minimally invasive surgery. The design of the handle makes the operation labor-saving and efficient, ultimately improving the flexibility, precision and safety of surgical operations, and is particularly suitable for minimally invasive surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0112] Figure 1 This is a schematic diagram of the overall structure of the multi-degree-of-freedom surgical forceps in this application;

[0113] Figure 2 A diagram showing the removal of one side of the gearbox for the multi-degree-of-freedom surgical forceps in this application;

[0114] Figure 3 Diagram of removing the barrel of the multi-degree-of-freedom surgical forceps in this application;

[0115] Figure 4 This is a schematic structural diagram of the clamping transmission shaft of the multi-degree-of-freedom surgical forceps in this application;

[0116] Figure 5 This is an enlarged schematic diagram of the clamping transmission shaft of the multi-degree-of-freedom surgical forceps in this application;

[0117] Figure 6 Schematic diagram of the wrist joint transmission mechanism of the multi-degree-of-freedom surgical forceps in this application;

[0118] Figure 7 This is an enlarged schematic diagram of the wrist joint of the multi-degree-of-freedom surgical forceps in this application;

[0119] Figure 8 Schematic diagram of a single set of connecting rods of the wrist joint of the multi-degree-of-freedom surgical forceps in this application;

[0120] Figure 9 This is an enlarged schematic diagram of a single set of connecting rods of the wrist joint of the multi-degree-of-freedom surgical forceps in this application;

[0121] Figure 10 This is an enlarged schematic diagram of a single set of connecting rods of the wrist joint of the control end of the multi-degree-of-freedom surgical forceps in this application;

[0122] Figure 11 This is a schematic diagram of the wrist joint transmission of the multi-degree-of-freedom surgical forceps in this application;

[0123] Figure 12 Schematic diagram of wrist joint deflection of multi-degree-of-freedom surgical forceps in this application;

[0124] Figure 13 This is a schematic diagram of the posture of the transmission shaft when the wrist joint of the multi-degree-of-freedom surgical forceps in this application is deflected;

[0125] Figure 14 Schematic diagram of the up and down swing of the wrist joint of the multi-degree-of-freedom surgical forceps in this application;

[0126] Figure 15 Schematic diagram of the left and right swing of the wrist joint of the multi-degree-of-freedom surgical forceps in this application;

[0127] Figure 16 Schematic diagram of the holder, BB cross-sectional view and CC cross-sectional view of the multi-degree-of-freedom surgical forceps in this application;

[0128] Figure 17 This is a schematic diagram of the handle end of the multi-degree-of-freedom surgical forceps in this application;

[0129] Figure 18 The front view and AA cross-sectional view of the handle end of the multi-degree-of-freedom surgical forceps in this application;

[0130] Figure 19 This is a schematic diagram of the shelling of the handle end of the multi-degree-of-freedom surgical forceps in this application;

[0131] Figure 20 Schematic diagram of the trigger and double crank mechanism of the multi-degree-of-freedom surgical forceps in this application;

[0132] Figure 21 Schematic diagram of the gear set of the multi-degree-of-freedom surgical forceps in this application;

[0133] Figure 22 A schematic diagram of one side of a gear set of a multi-degree-of-freedom surgical forceps in this application;

[0134] Figure 23 This is a schematic diagram of the other side of the gear set of the multi-degree-of-freedom surgical forceps in this application.

[0135] Reference numerals:

[0136] 1. Clamp; 11. Clamp housing; 12. Threaded slider; 13. Clamp link; 14. Clamp; 15. First flange bearing; 16. Nut; 2. Yaw mechanism; 21. Rod; 22. Actuator end quaternion joint; 221. Actuator end link rack; 222. Actuator end cross-axis link; 2222. Sixth axis; 2223. Seventh axis; 223. Actuator end parallel link; 224. Rod end cross link; 2242. Eighth axis; 2243. Ninth axis; 2244. Tenth axis; 225. Rod end link rack; 226. Actuator end wrist joint symmetry plane; 23. Yaw transmission link; 24. Control end quaternion joint; 2 41. Control end connecting rod frame; 242. Control end cross-axis connecting rod; 2422. First axis; 2423. Second axis; 243. Control end parallel connecting rod; 244. Rod body control end cross-link; 2442. Third axis; 2443. Fourth axis; 2444. Fifth axis; 245. Rod body control end connecting rod frame; 246. Control end wrist joint symmetry plane; 3. Drive shaft; 31. Actuator end drive screw; 32. Double universal joint coupling; 321. Coupling intermediate shaft; 322. Cross nut; 323. First side hole cylindrical pin; 324. First cylindrical pin; 33. Long drive shaft; 34. Drive shaft power input joint; 4. Handle; 41. Handle housing; 4 11. Right half of the gearbox; 412. Left half of the gearbox; 413. Control end connecting rod frame seat; 414. Handle; 42. Acceleration gear set; 421. First gear shaft; 4211. Hollow stepped shaft; 4212. First bevel gear; 4213. First bearing; 422. Second gear shaft; 4221. First stepped shaft; 4222. Second bevel gear; 4223. Second spur gear; 4224. First flange bearing; 4225. First bushing; 423. Third gear shaft; 4231. First cylindrical pin; 4232. Third-stage double-layer gear; 4233. Second flange bearing; 4234. Second bushing; 4235. First limit ring; 424. Fourth gear shaft ; 4241, second cylindrical pin; 4242, fourth-stage double-layer gear; 4243, third flange bearing; 4244, third bushing; 425, fifth gear shaft; 4251, third cylindrical pin; 4252, fifth-stage spur gear; 4253, fourth flange bearing; 4254, fourth bushing; 4255, second limiting ring; 43, trigger linkage; 431, gear crank; 4311, gear crank upper half; 4312, gear crank lower half; 432, trigger linkage; 433, trigger crank; 434, trigger; 435, trigger shaft; 4351, fourth cylindrical pin; 4352, fifth flange bearing; 4353, third limiting ring; 4354, fifth bushing; DETAILED DESCRIPTION

[0137] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0138] Example

[0139] like Figure 1-Figure 23 As shown, this embodiment provides a multi-degree-of-freedom surgical forceps, such as Figure 1 As shown, the multi-degree-of-freedom surgical forceps includes a shaft 21 , a clamp 1 , a wrist mechanism 2 , a transmission shaft 3 and a handle 4 .

[0140] The shaft 21 is a hollow cylindrical tubular structure for accommodating the transmission shaft 3 and some components of the wrist mechanism 2 .

[0141] The clamp 1 is provided at the distal end of the shaft 21 (the end away from the handle 4 ) and is used for clamping tissue or instruments.

[0142] The handle 4 is provided at the proximal end of the shaft 21 (the end close to the operator) and is used by the operator to control the clamping and yaw movements of the surgical forceps.

[0143] The transmission shaft 3 is disposed in the shaft 21 and is used to transmit the rotational motion generated by the handle 4 to the clamp 1 .

[0144] The wrist mechanism 2 is disposed within the shaft 21 and is configured to enable the clamp 1 to swing in all directions relative to the shaft 21 .

[0145] The shaft 21 is made of medical stainless steel and has sufficient strength and rigidity. The outer diameter of the shaft 21 is 8-12 mm, and the inner diameter is determined according to the size of the internal components.

[0146] like Figure 2 and Figure 16 As shown, the clamp 1 includes a clamp housing 11 , a threaded slider 12 , a clamp connecting rod 13 , and a clamp 14 .

[0147] The holder housing 11 is fixedly connected to the distal end of the rod 21 , and an axial sliding groove is provided on the inner wall of the holder housing 11 .

[0148] The threaded slider 12 is arranged in the holder housing 11 and can slide along the axial slide groove. The center of the threaded slider 12 is provided with a threaded hole.

[0149] The actuator end transmission screw 31 is threadedly connected to the threaded hole of the threaded slider 12 .

[0150] The clamping leaves 14 are a pair, symmetrically arranged, and are both pivotally connected to the clamp housing 11 through a revolving pair.

[0151] One end of the clamp link 13 is connected to the threaded slider 12 through a rotating pair, and the other end is connected to the clamp 14 through a rotating pair.

[0152] The jaws 14, jaw connecting rod 13, threaded slider 12, and clamp housing 11 together form a slider-crank mechanism. Rotating the actuator drive screw 31 drives the threaded slider 12 to slide axially, which in turn drives the jaws 14, via the jaw connecting rod 13, to rotate about its pivot point with the clamp housing 11, opening and closing the jaws 14.

[0153] like Figures 3 to 11 As shown, the wrist mechanism 2 includes a control-end quaternion joint 24 , an execution-end quaternion joint 22 and a yaw transmission link 23 .

[0154] It should be noted that in this application, the so-called "quaternion joint" refers to a special spatial linkage mechanism, which is composed of four connecting rods (including two cross-axis connecting rods and two parallel connecting rods) and two frames, and the two frames are respectively connected to different components. These connecting rods are connected by a revolute pair to form a specific geometric constraint relationship, so that when one of the frames is deflected relative to the other, the two frames can achieve an all-round rotation similar to a spherical pair, but the internal transmission is achieved by the rotation of the connecting rod, rather than the sliding of the spherical surface. This structure has the advantages of smooth transmission and compact structure, and is suitable for occasions where space is limited and multi-degree-of-freedom motion is required.

[0155] like Figure 4 and Figure 10 As shown, the control end quaternion joint 24 includes a control end link frame 241, a rod body control end link frame 245, a control end cross-axis link 242, a control end parallel link 243 and a rod body control end cross link 244.

[0156] The control end connecting rod frame 241 is fixedly connected to the handle 4.

[0157] The rod control end connecting rod frame 245 is fixedly connected to the rod shaft 21.

[0158] The control end cross-axis link 242 is connected to the control end link frame 241 through a revolute pair (a first axis 2422 is provided at the connection), and is connected to the control end parallel link 243 through a revolute pair (a second axis 2423 is provided at the connection).

[0159] The control end parallel link 243 is connected to the control end cross axis link 242 through a rotation pair, and is connected to the rod body control end cross link 244 through a rotation pair.

[0160] The shaft control-end cross link 244 is connected to the shaft control-end link frame 245 via a revolute joint (a third axis 2442 is defined at the joint), and is also connected to the control-end parallel link 243 via a revolute joint (a fourth axis 2443 is defined at the joint). The shaft control-end cross link 244 is also connected to the yaw transmission link 23 via a revolute joint (a fifth axis 2444 is defined at the joint).

[0161] The control end quaternion joint 24 has a control end wrist joint symmetry plane 246 .

[0162] like Figure 5 and Figure 9 As shown, the execution end quaternion joint 22 includes an execution end link frame 221, a rod body execution end link frame 225, an execution end cross-axis link 222, an execution end parallel link 223 and a rod body execution end cross link 224.

[0163] The execution end link frame 221 is fixedly connected to the clamper 1 .

[0164] The rod shaft execution end connecting rod frame 225 is fixedly connected to the rod shaft 21.

[0165] The execution end cross-axis link 222 is connected to the execution end link frame 221 through a revolute pair (a sixth axis 2222 is provided at the connection), and is connected to the execution end parallel link 223 through a revolute pair (a seventh axis 2223 is provided at the connection).

[0166] The execution end parallel connecting rod 223 is connected to the execution end cross-axis connecting rod 222 through a rotation pair, and is connected to the rod body execution end cross connecting rod 224 through a rotation pair.

[0167] The cross link 224 at the actuator end of the shaft is connected to the actuator end link frame 225 via a revolute joint (with an eighth axis 2242 defined at the joint), and is also connected to the actuator end parallel link 223 via a revolute joint (with a ninth axis 2243 defined at the joint). The cross link 224 at the actuator end of the shaft is also connected to the yaw transmission link 23 via a revolute joint (with a tenth axis 2244 defined at the joint).

[0168] The actuator quaternion joint 22 has an actuator wrist joint symmetry plane 226 .

[0169] like Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 11 As shown, the yaw transmission link 23 is a rigid link, which is arranged in the rod body 21. One end of the yaw transmission link 23 is connected to the rod body control end cross link 244 through a revolute pair, and the other end is connected to the rod body execution end cross link 224 through a revolute pair.

[0170] The rod body 21, the rod body execution end connecting rod frame 225, the rod body control end connecting rod frame 245, the yaw transmission connecting rod 23, the rod body control end cross connecting rod 244 and the rod body execution end cross connecting rod 224 are connected through multiple rotation pairs to form a parallelogram mechanism.

[0171] like Figure 4 、 Figure 5 As shown, the transmission shaft 3 includes an execution end transmission screw 31 , a double universal joint coupling 32 , a long transmission shaft 33 and a transmission shaft power input joint 34 .

[0172] The actuator transmission screw 31 is located at the distal end of the transmission shaft 3 and is threadedly connected to the threaded slider 12 in the clamp 1 .

[0173] The double universal joint coupling 32 includes a coupling intermediate shaft 321, a cross head 322, a first side hole cylindrical pin 323 and a first cylindrical pin 324. In this embodiment, the first set of double universal joint couplings 32 and the second set of double universal joint couplings 32 have the same structure.

[0174] The actuator drive screw 31, the first set of dual universal joint couplings 32, the long transmission shaft 33, the second set of dual universal joint couplings 32, and the transmission shaft power input joint 34 are sequentially connected along the axial direction of the shaft 21. The transmission shaft power input joint 34 is located at the proximal end of the transmission shaft 3 and is connected to the acceleration gear set 42 in the handle 4.

[0175] like Figure 1 、 Figure 17 、 Figure 18 and Figure 19 As shown, the handle 4 includes a handle housing 41 , an acceleration gear set 42 and a trigger linkage mechanism 43 .

[0176] like Figure 17 As shown, the handle housing 41 includes a right half 411 of the gear box, a left half 412 of the gear box, a control end connecting rod frame seat 413 and a grip 414.

[0177] like Figure 18 、 Figure 19 、 Figure 21 、 Figure 22 and Figure 23 As shown, the acceleration gear set 42 is arranged in the handle housing 41 and is a four-stage gear transmission. The acceleration gear set 42 includes:

[0178] The first gear shaft 421 is provided with a hollow stepped shaft 4211 and a first-stage bevel gear 4212. The first gear shaft 421 is supported by a first bearing 4213. The first gear shaft 421 is connected to the transmission shaft power input section 34 of the transmission shaft 3.

[0179] The second gear shaft 422 is provided with a first stepped shaft 4221 , a second-stage bevel gear 4222 (engaged with the first-stage bevel gear 4212 ), and a second-stage spur gear 4223 . The second gear shaft 422 is supported by a first flange bearing 4224 and a first sleeve 4225 .

[0180] The third gear shaft 423 is provided with a third-stage double-layer gear 4232 (engaged with the second-stage spur gear 4223). The third gear shaft 423 is fixed by a first cylindrical pin 4231 and supported by a second flange bearing 4233, a second sleeve 4234 and a first limiting ring 4235.

[0181] The fourth gear shaft 424 is provided with a fourth-stage double-layer gear 4242 (engaged with the third-stage double-layer gear 4232 ). The fourth gear shaft 424 is fixed by a second cylindrical pin 4241 and supported by a third flange bearing 4243 and a third shaft sleeve 4244 .

[0182] The fifth gear shaft 425 is provided with a fifth-stage spur gear 4252 (engaged with the fourth-stage double-layer gear 4242). The fifth gear shaft 425 is fixed by a third cylindrical pin 4251 and supported by a fourth flange bearing 4253, a fourth sleeve 4254 and a second limiting ring 4255. The fifth gear shaft 425 is connected to the gear crank 431 of the trigger linkage mechanism 43. Figure 17 、 Figure 18 、 Figure 19 and Figure 20 As shown, the trigger linkage mechanism 43 is disposed in the handle housing 41 and is a double rocker mechanism. The trigger linkage mechanism 43 includes:

[0183] Trigger 434: Trigger 434 is a component for the operator to apply force.

[0184] The trigger shaft 435 and the trigger 434 rotate around the trigger shaft 435. The trigger shaft 435 is fixed by a fourth cylindrical pin 4351 and supported by a fifth flange bearing 4352, a third limiting ring 4353, and a fifth sleeve 4354. The trigger shaft 435 is mounted on the handle housing 41.

[0185] The trigger crank 433 is fixedly connected to the trigger 434 .

[0186] The trigger link 432 is connected to the trigger crank 433 and the gear crank 431 through a rotating pair.

[0187] The gear crank 431 includes a gear crank upper half 4311 and a gear crank lower half 4312 , and is fixedly connected to the fifth-stage spur gear 4252 on the fifth gear shaft 425 of the acceleration gear set 42 .

[0188] The working principle of the multi-degree-of-freedom surgical forceps in this embodiment is as follows:

[0189] 1. Clamping action

[0190] The operator pulls the trigger 434, and the trigger 434 drives the trigger crank 433 to rotate around the trigger shaft 435. The trigger crank 433 drives the gear crank 431 to rotate through the trigger link 432. The gear crank 431 drives the acceleration gear set 42 to rotate, and the acceleration gear set 42 amplifies the small-angle movement of the trigger into a large-angle rotation of the transmission shaft. The transmission shaft 3 drives the actuator drive screw 31 to rotate. The actuator drive screw 31 is threadedly connected to the threaded slider 12, converting the rotational motion into linear motion of the threaded slider 12 along the axial direction of the clamp housing 11. The linear motion of the threaded slider 12 drives the clamp leaf 14 to rotate around its pivot point with the clamp housing 11 through the clamp leaf connecting rod 13, thereby realizing the opening and closing of the clamp leaf 14.

[0191] 2. Swinging action

[0192] The operator causes the handle 4 to yaw relative to the shaft 21. The yaw of the handle 4 is transmitted to the control-end quaternion joint 24 via the yaw transmission link 23. The motion of the control-end quaternion joint 24 is transmitted to the actuator-end quaternion joint 22 via the parallelogram mechanism (the shaft 21, the shaft actuator-end link frame 225, the shaft control-end link frame 245, the yaw transmission link 23, the shaft control-end cross link 244, and the shaft actuator-end cross link 224), causing the actuator-end quaternion joint 22 to yaw synchronously with the control-end quaternion joint 24. The actuator-end quaternion joint 22 is connected to the clamp 1, driving the clamp 1 to yaw relative to the shaft 21.

[0193] Among them, in the control end quaternion joint 24, the second axis 2423 connecting the control end cross-axis link 242 and the control end parallel link 243 is always parallel to the control end wrist joint symmetry plane 246; the fourth axis 2443 connecting the rod body control end cross link 244 and the control end parallel link 243 is always parallel to the control end wrist joint symmetry plane 246;

[0194] In the actuator end quaternion joint 22, the seventh axis 2223 connecting the actuator end cross-axis link 222 and the actuator end parallel link 223 is always parallel to the actuator end wrist joint symmetry plane 226; the ninth axis 2243 connecting the rod body actuator end cross link 224 and the actuator end parallel link 223 is always parallel to the actuator end wrist joint symmetry plane 226.

[0195] The above structure ensures that the symmetric plane 246 of the wrist joint at the control end and the symmetric plane 226 of the wrist joint at the execution end always remain parallel, thereby achieving the deflection of the clamper 1.

[0196] The multi-degree-of-freedom surgical forceps of this embodiment achieves the following beneficial effects through the above structural design:

[0197] 1. Multi-degree-of-freedom movement: The clamp 1 can achieve full-range deflection relative to the handle 4, making it convenient for doctors to operate from different angles and positions during surgery.

[0198] 2. Precise clamping: The screw-driven crank slider mechanism can accurately control the opening and closing degree of the clamp leaves 14 to achieve reliable clamping of tissues.

[0199] 3. Compact structure: The layout of various components is reasonable. The transmission shaft 3, the connecting rod of the yaw mechanism 2 and other components are arranged in the rod body 21, so that the entire surgical forceps has a compact structure and a small outer diameter, which is suitable for minimally invasive surgery.

[0200] 4. Precise Transmission and Control: The acceleration gear set 42 within the handle 4 converts small trigger movements into large rotations of the drive shaft, improving the precision of clamping control. The design of the double universal joint coupling 32 ensures that the drive shaft 3 can still smoothly transmit rotational motion even when it is deflected.

[0201] 5. Easy to operate: The design of the double rocker mechanism makes the output torque change more smoothly within the effective stroke of the trigger, making it easier for the operator to control the clamping force.

[0202] Unless otherwise specifically stated, the relative arrangement, numerical expression and numerical value of the parts and steps set forth in these embodiments do not limit the scope of the application. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a restriction. Therefore, other examples of exemplary embodiments can have different values. It should be noted that: similar reference numerals and letters represent similar items in the accompanying drawings below, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in the accompanying drawings subsequently.

[0203] In addition, it should be noted that the use of terms such as "first" and "second" for limitation is only for the convenience of distinction. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0204] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom surgical forceps, characterized in that: include: shaft; A clamper is provided at one end of the rod body, comprising a clamping jaw and a threaded drive mechanism, wherein the threaded drive mechanism is used to drive the clamping jaw to perform a clamping motion; a transmission shaft, disposed in the shaft; a handle, disposed at the other end of the shaft, the handle comprising a trigger linkage mechanism and an acceleration gear set, the trigger linkage mechanism being connected to one end of the transmission shaft via the acceleration gear set, and the other end of the transmission shaft being connected to the threaded drive mechanism; The yaw mechanism includes a quaternion joint at the control end, a quaternion joint at the execution end, a connecting rod mechanism and a yaw transmission connecting rod. The connecting rod mechanism is arranged in the rod body. The quaternion joint at the control end and the quaternion joint at the execution end are connected through the connecting rod mechanism. The quaternion joint at the execution end is connected to the clamper. The quaternion joint at the control end is connected to the handle through the yaw transmission connecting rod.

2. The multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: The control end quaternion joint includes a control end link frame, a rod body control end link frame, a control end cross-axis link, a control end parallel link and a rod body control end cross link; The control end connecting rod frame is connected to the control end cross-axis connecting rod, the control end cross-axis connecting rod is connected to the control end parallel connecting rod, the control end parallel connecting rod is connected to the rod body control end cross connecting rod, and the rod body control end cross connecting rod is connected to the rod body control end connecting rod frame; The quaternion joint of the control end is connected to the connecting rod mechanism through the connecting rod frame of the rod body control end; The control end quaternion joint is connected to the handle through the control end connecting rod frame.

3. The multi-degree-of-freedom surgical forceps according to claim 2, characterized in that: The execution end quaternion joint includes an execution end link frame, a rod body execution end link frame, an execution end cross-axis link, an execution end parallel link and a rod body execution end cross link; The execution end connecting rod frame is connected to the execution end cross-axis connecting rod, the execution end cross-axis connecting rod is connected to the execution end parallel connecting rod, the execution end parallel connecting rod is connected to the rod body execution end cross connecting rod, and the rod body execution end cross connecting rod is connected to the rod body execution end connecting rod frame; The quaternion joint of the execution end is connected to the connecting rod mechanism through the connecting rod frame of the rod body execution end; The execution end quaternion joint is connected to the clamper through the execution end connecting rod frame.

4. The multi-degree-of-freedom surgical forceps according to claim 3, characterized in that: The yaw transmission connecting rod is connected to the cross connecting rod at the control end of the rod body and the cross connecting rod at the execution end of the rod body through a revolute pair respectively; One end of the cross link at the control end of the rod body away from the yaw transmission link is connected to the rod control end link frame via a revolute pair; One end of the cross link at the rod body execution end away from the yaw transmission link is connected to the rod body execution end link frame via a revolute pair; The connecting rod frame at the control end of the rod body and the connecting rod frame at the execution end of the rod body are both connected to the rod body through a revolute pair; The rod body, the rod body execution end connecting rod frame, the rod body control end connecting rod frame, the yaw transmission connecting rod, the rod body control end cross connecting rod and the rod body execution end cross connecting rod form a parallelogram mechanism.

5. The multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: The holder further comprises: a holder housing extending along the axial direction of the shaft; a threaded slider slidably disposed within the holder housing; Clamp connecting rod; The clamping jaws are pivotally connected to the clamp housing, and the clamping jaws are pivotally connected to the threaded slider via the jaw connecting rod; An execution end transmission screw is provided at the end of the transmission shaft, and the execution end transmission screw is threadedly connected to the threaded slider.

6. The multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: The transmission shaft comprises: An actuator transmission screw is located at one end of the transmission shaft close to the clamp; Two sets of double universal joint couplings; A shaft body extending axially along the shaft; A transmission shaft power input joint, located at one end of the transmission shaft close to the handle; The execution end transmission screw, the first set of double universal joint couplings, the shaft body, the second set of double universal joint couplings and the transmission shaft power input joint are connected in sequence along the axial direction of the rod body.

7. The multi-degree-of-freedom surgical forceps according to claim 1, characterized in that: The handle further comprises a handle housing; The acceleration gear set and the trigger linkage mechanism are both arranged in the handle housing; The acceleration gear set is a four-stage gear transmission, and the trigger connecting rod mechanism is a double rocker mechanism.

8. The multi-degree-of-freedom surgical forceps according to claim 7, characterized in that: The acceleration gear set includes: The first gear shaft is provided with a first-stage bevel gear; The second gear shaft is provided with a secondary bevel gear and a secondary spur gear, wherein the secondary bevel gear is meshed with the primary bevel gear; The third gear shaft is provided with a three-stage double-layer gear, and the three-stage double-layer gear is meshed with the two-stage spur gear; The fourth gear shaft is provided with a four-stage double-layer gear, and the four-stage double-layer gear is meshed with the three-stage double-layer gear; The fifth gear shaft is provided with a five-stage spur gear, and the five-stage spur gear is meshed with the four-stage double-layer gear.

9. The multi-degree-of-freedom surgical forceps according to claim 8, characterized in that: The trigger-link mechanism comprises a gear crank, a trigger link, a trigger crank, a trigger and a trigger shaft; The trigger is fixedly connected to the trigger crank; The trigger crank, the trigger connecting rod and the gear crank are sequentially connected via a rotating pair; The gear crank is fixedly connected to the fifth-stage spur gear on the fifth gear shaft; The handle shell is provided with a mounting portion for mounting the trigger shaft.

10. The multi-degree-of-freedom surgical forceps according to any one of claims 1 to 9, characterized in that: The outer diameter of the shaft is 8 to 12 mm.

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