Needle holder for high-degree-of-freedom endoscopic surgery and use method of needle holder

Abstract

The invention relates to the technical field of needle holders, in particular to a needle holder for high-degree-of-freedom endoscopic surgery and a using method thereof.The needle holder comprises a needle holding handle and a clamping head and is used for medical staff to operate and use the needle holder, and one end of the needle holding handle is connected with a needle holding rod; the adjusting mechanism is used for adjusting the inclination angle of the needle holder, the adjusting mechanism comprises a first micro motor and a transmission shaft, and one end of the first micro motor is connected with a rotating shaft; through cooperative work of all the mechanisms, the inclination angle of the needle holder and the opening and closing degree of the clamping head can be automatically and accurately adjusted, repeated operation of medical staff is not needed, and the abrasion phenomenon of instruments is avoided, so that the clamping and closing function and the suturing effect of the needle holder are improved, all parts of the needle holder are convenient to mount and dismount, and the working efficiency is improved. The operation freedom degree and convenience of the needle holder in an endoscopic surgery are greatly improved, and a powerful guarantee is provided for smooth proceeding of the surgery.

Description

Technical Field

[0001] The invention belongs to the technical field of needle holders, and in particular relates to a needle holder for high-freedom laparoscopic surgery and a method for using the needle holder. Background Art

[0002] With the increasing prevalence of minimally invasive surgery, gastrointestinal surgeries are now mostly performed laparoscopically. Laparoscopic instruments are inserted through a small 5-12 mm incision to perform a series of complex procedures, significantly reducing surgical trauma and promoting rapid postoperative recovery. Reconstruction after gastrointestinal tract division and suturing of digestive tract perforations require the assistance of a laparoscopic needle holder. Therefore, the performance of the laparoscopic needle holder directly impacts surgical efficiency and safety. During current laparoscopic gastrointestinal suturing procedures, the surgeon uses a laparoscopic separation forceps to assist in adjusting the angle and position of the needle holder. Before suturing the tissue, the surgeon adjusts the needle tip to the appropriate angle toward the target area. Using wrist force, the surgeon rolls the needle holder laterally, causing the needle to rotate and penetrate the tissue. Using another handheld instrument, the surgeon grasps the needle tip and pulls it completely out of the tissue. Then, using both hands, the surgeon re-grips the needle holder at the appropriate angle, completing the next laparoscopic suturing procedure. Usually, a laparoscopic surgery requires multiple suturing operations at multiple locations, which is more difficult for the surgeon's non-dominant hand. Therefore, simplifying the operation process and completing the suturing operation efficiently and accurately have become urgent issues to be solved in laparoscopic gastrointestinal surgery.

[0003] Current laparoscopic needle holders have the following shortcomings: Their adjustment mechanism is limited, and their clamping head is fixed. Once the needle is clamped, the needle angle cannot be adjusted; adjustment requires releasing the clamping head and re-clamping. Repeated manipulation can easily lead to increased wear on the instrument, which in turn reduces the clamping function over time. Excessive resistance to suturing tissue can easily cause the needle tip to shift, resulting in ineffective suturing and potentially causing surgical side effects. Furthermore, in the event of laparoscopic bleeding requiring emergency suturing, repeated adjustments are time-consuming and labor-intensive, delaying the procedure. Therefore, a high-freedom needle holder for laparoscopic surgery and its use method are proposed. Summary of the Invention

[0004] The object of the present invention is to provide a needle holder for high-degree-of-freedom laparoscopic surgery and a method of using the same, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A needle holder for high-freedom laparoscopic surgery, comprising:

[0007] The needle holding handle and the clamping head are used for medical personnel to operate the needle holder, and one end of the needle holding handle is connected to the needle holding rod;

[0008] An adjustment mechanism for adjusting the inclination angle of the needle holder, the adjustment mechanism comprising a first micromotor and a transmission shaft, one end of the first micromotor being connected to a rotating shaft, the rotating shaft and the outer side wall of the transmission shaft being fixedly connected to a rotating gear and a transmission gear respectively, the outer side wall of the transmission shaft being fixedly connected to a clamping plate;

[0009] An opening and closing mechanism is used to adjust the opening and closing size of the clamping head, the opening and closing mechanism is located on the adjustment mechanism, and the opening and closing mechanism includes a second micro motor installed on one side of the clamping plate, a clamping groove is provided on the clamping plate, and a rotating rod is rotatably connected to the inside of the clamping groove. The rotating rod rotates and extends to the outside of the clamping plate at one end away from the clamping groove and is fixedly connected to the output end of the second micro motor. The clamping head is fixedly connected to the outer wall of the rotating rod, and the clamping head is located inside the clamping groove;

[0010] The mounting mechanism is used for mounting the adjusting mechanism, the opening and closing mechanism and the needle holding rod for use, and the mounting mechanism is mounted on one end of the needle holding rod.

[0011] Preferably, the mounting mechanism includes a plug-in block, an installation cavity is provided inside the plug-in block, a telescopic rod is connected to the inside of the installation cavity, the top of the telescopic rod is connected to a connecting slide, the top two sides of the connecting slide are respectively connected to a plug-in magnetic rod and a pressing plate, and the plug-in magnetic rod and the pressing plate both slide and extend to the outside of the plug-in block, a plug-in groove is provided at one end of the needle holding rod, a guide groove is provided on the inner wall of the plug-in groove, a socket is provided inside the guide groove, and a mounting magnetic block is connected inside the socket.

[0012] Preferably, a connecting cavity is provided inside the plug-in block, the first micromotor is installed on the inner wall of the connecting cavity, the rotating shaft is rotatably connected inside the connecting cavity, an extension groove is provided on one side of the plug-in block, the outer wall size of the clamping plate is smaller than the size of the extension groove, and the end of the clamping plate away from the rotating shaft extends to the outside of the plug-in block through the extension groove.

[0013] Preferably, the inner wall of the connecting cavity is connected to a lubrication box, a lubrication roller is rotatably connected to the inside of the lubrication box, and one side of the lubrication roller extends to the outside of the lubrication box, the rotating gear and the transmission gear are fully meshed, the outer wall of the transmission gear and the outer wall of the lubrication roller are frictionally fitted, an injection hole is provided on the top of the lubrication roller, and the injection hole extends to the outside of the plug-in block.

[0014] Preferably, the outer wall of the plug-in block and the inner wall of the plug-in slot are slidingly fitted, and a sliding hole and a sliding slot are respectively opened on the top of the plug-in block, and the plug-in magnetic rod and the pressing plate slide through the sliding hole and the sliding slot to extend to the outside of the plug-in block respectively.

[0015] Preferably, the outer side wall of the plug-in magnetic rod and the inner side wall of the guide slot are slidingly fitted, the plug-in magnetic rod and the socket are correspondingly slidingly plugged, and the plug-in magnetic rod and the mounting magnetic block are correspondingly attracted to each other with opposite poles.

[0016] Preferably, the size of the rotating gear is smaller than that of the transmission gear.

[0017] A method for using a needle holder for high-degree-of-freedom laparoscopic surgery, comprising:

[0018] Step 1: When the inclination angle of the needle holder needs to be adjusted, the first micromotor is started, driving the rotating shaft connected to it to rotate. The outer wall of the rotating shaft is fixedly connected to a rotating gear, and the outer wall of the transmission shaft is fixedly connected to a transmission gear. The rotating gear and the transmission gear are fully meshed. Therefore, the rotation of the rotating shaft drives the rotating gear to rotate, and then the transmission gear rotates through the meshing action of the gears. The rotation of the transmission gear drives the transmission shaft to rotate synchronously.

[0019] Step 2: A clamping plate is fixedly connected to the outer wall of the transmission shaft. The end of the clamping plate away from the rotating shaft extends to the outside of the plug-in block through an extension slot provided on one side of the plug-in block. As the transmission shaft rotates, the clamping plate also rotates, thereby driving the opening and closing mechanism and the clamping head fixed to the clamping plate to rotate together;

[0020] Step 3: When the transmission gear rotates, it will produce friction with the lubrication roller, thereby driving the lubrication roller to rotate. During the rotation of the lubrication roller, the lubricant on its surface will be evenly applied to the transmission gear;

[0021] Step 4: When the opening and closing size of the clamping head needs to be adjusted, the second micro motor is started to drive the rotating rod to rotate; the clamping head is fixedly connected to the outer wall of the rotating rod and is located inside the clamping groove. As the rotating rod rotates, the clamping head will make a circular motion around the rotating rod, thereby realizing the opening and closing action of the clamping head;

[0022] Step 5: When the plug-in block is inserted into the plug-in slot, the plug-in magnetic rod slides along the guide slot. When the plug-in magnetic rod slides to the position corresponding to the socket, the connecting slide slides upward under the elastic force of the telescopic rod, driving the plug-in magnetic rod to be inserted into the socket. At the same time, since the plug-in magnetic rod and the mounting magnetic block are arranged with corresponding opposite poles to attract each other, the plug-in magnetic rod will be tightly adsorbed with the mounting magnetic block after being inserted into the socket, thereby firmly fixing the plug-in block in the plug-in slot;

[0023] Step 6: The medical staff only needs to press the pressing plate, which drives the connecting slide plate to slide downward, compressing the telescopic rod and at the same time withdrawing the plug-in magnetic rod from the socket, releasing the adsorption effect between the plug-in magnetic rod and the mounting magnetic block. At this time, the plug-in block can be easily pulled out from the plug-in slot, completing the disassembly of the adjustment mechanism, the opening and closing mechanism and the needle holding rod.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The adjustment mechanism uses a first micromotor to drive the rotating shaft. Through the meshing transmission of the rotating gear and the transmission gear, the transmission shaft and the clamping plate rotate, thereby achieving automatic adjustment of the needle holder's tilt angle. This design allows medical personnel to flexibly adjust the angle of the needle holder according to the surgical site and operation requirements without manual adjustment, greatly improving the convenience and flexibility of operation, and is particularly suitable for the complex and changing environment of laparoscopic surgery.

[0026] The opening and closing mechanism uses a second micro-motor to drive a rotating rod, which enables the clamping head fixed on the rotating rod to open and close within the clamping groove. Medical personnel can precisely control the opening and closing size of the clamping head according to the size of the surgical needle and the operation requirements, ensuring stable and reliable clamping of the surgical needle, preventing the surgical needle from slipping or being damaged by over-clamping, and improving the accuracy and safety of the operation.

[0027] The installation mechanism adopts the mode of matching the plug-in block with the plug-in slot of the needle holder. Through the coordinated action of the telescopic rod, the connecting slide, the plug-in magnetic rod and the installation magnetic block, the adjustment mechanism and the opening and closing mechanism are quickly installed with the needle holder. During installation, only the plug-in block needs to be inserted into the plug-in slot. The plug-in magnetic rod is automatically inserted into the socket under the elastic force of the telescopic rod and fixed with the installation magnetic block. The operation is simple and fast, which greatly shortens the preparation time before the operation.

[0028] When disassembly is required, medical personnel only need to press the pressing plate to withdraw the plug-in magnetic rod from the socket, releasing the adsorption effect, and easily pull the plug-in block out of the socket, realizing the disassembly of the adjustment mechanism, the opening and closing mechanism and the needle holder. This convenient disassembly method facilitates the cleaning, maintenance and replacement of parts of the needle holder, thereby improving the efficiency and life of the equipment.

[0029] To sum up, through the coordinated work of the above-mentioned mechanisms, the needle holder for high-freedom laparoscopic surgery of the present invention can realize automatic and precise adjustment of the tilt angle of the needle holder and the opening and closing size of the clamping head, without the need for medical personnel to perform repeated operations, avoiding the wear of the instrument, thereby improving the clamping function and suturing effect of the needle holder, as well as the convenient installation and disassembly of the various components of the needle holder, greatly improving the operational freedom and convenience of the needle holder in laparoscopic surgery, and providing a strong guarantee for the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural diagram of the present invention;

[0031] Figure 2 It is a top view of the structure of the present invention;

[0032] Figure 3 It is a top cross-sectional structural diagram of the plug-in block of the present invention;

[0033] Figure 4 This is a diagram showing the internal structure of the plug-in block of the present invention;

[0034] Figure 5 A side sectional structural diagram of the needle holding rod and the plug block of the present invention.

[0035] Figure 6 For the present invention Figure 5 Enlarged structural diagram of point A.

[0036] In the figure: 1. Needle holding handle; 2. Needle holding rod; 3. Plug-in block; 301. Mounting cavity; 302. Telescopic rod; 303. Connecting slide; 304. Plug-in magnetic rod; 305. Mounting magnetic block; 306. Pressing plate; 4. First micro motor; 401. Rotating shaft; 402. Rotating gear; 403. Transmission shaft; 404. Transmission gear; 405. Clamping plate; 5. Lubrication box; 501. Lubrication roller; 6. Second micro motor; 601. Clamping groove; 602. Rotating rod; 603. Clamping head. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example 1

[0039] like Figure 1-6 As shown, a needle holder for high-degree-of-freedom laparoscopic surgery includes: a needle holder handle 1 and a clamping head 603, which is used for medical personnel to operate the needle holder. One end of the needle holder handle 1 is connected to a needle holder rod 2;

[0040] An adjustment mechanism for adjusting the inclination angle of the needle holder includes a first micromotor 4 and a transmission shaft 403. One end of the first micromotor 4 is connected to a rotating shaft 401. The outer walls of the rotating shaft 401 and the transmission shaft 403 are respectively fixedly connected to a rotating gear 402 and a transmission gear 404. The outer wall of the transmission shaft 403 is fixedly connected to a clamping plate 405.

[0041] An opening and closing mechanism is used to adjust the opening and closing size of the clamping head 603. The opening and closing mechanism is located on the adjustment mechanism and includes a second micro-motor 6 installed on one side of the clamping plate 405. A clamping groove 601 is provided on the clamping plate 405. A rotating rod 602 is rotatably connected to the interior of the clamping groove 601. The end of the rotating rod 602, which is away from the clamping groove 601, rotates and extends to the outside of the clamping plate 405 and is fixedly connected to the output end of the second micro-motor 6. The clamping head 603 is fixedly connected to the outer wall of the rotating rod 602 and is located inside the clamping groove 601.

[0042] The present invention is further specifically described. A connecting cavity is defined within the plug-in block 3. The first micromotor 4 is mounted on the inner wall of the connecting cavity. The rotating shaft 401 is rotatably connected to the interior of the connecting cavity. An extension slot is defined on one side of the plug-in block 3. The outer wall of the clamping plate 405 is smaller than the extension slot. One end of the clamping plate 405, which is away from the rotating shaft 401, extends to the exterior of the plug-in block 3 through the extension slot.

[0043] The present invention is further specifically described. The inner wall of the connecting cavity is connected to a lubrication box 5. A lubrication roller 501 is rotatably connected to the interior of the lubrication box 5, and one side of the lubrication roller 501 extends to the outside of the lubrication box 5. The rotating gear 402 and the transmission gear 404 are fully meshed. The outer wall of the transmission gear 404 and the outer wall of the lubrication roller 501 are frictionally fitted. An injection hole is opened on the top of the lubrication roller 501, and the injection hole extends to the outside of the plug-in block 3. The size of the rotating gear 402 is smaller than that of the transmission gear 404.

[0044] As can be seen from the above, the needle holder handle 1 provides a fulcrum for medical personnel to operate the needle holder. By holding the needle holder handle 1, medical personnel can conveniently control the movement and basic operations of the needle holder. One end of the needle holder rod 2 is connected to the needle holder handle 1, and the other end is connected to the adjustment mechanism, opening and closing mechanism and other components. It plays the role of transmitting operating actions and supporting various components, and accurately transmits the medical personnel's operating instructions to the execution component of the needle holder.

[0045] The adjustment mechanism mainly consists of a first micro motor 4, a rotating shaft 401, a transmission shaft 403, a rotating gear 402, a transmission gear 404 and a clamping plate 405, and is used to realize automatic adjustment of the inclination angle of the needle holder. When the inclination angle of the needle holder needs to be adjusted, the first micro motor 4 is started to drive the rotating shaft 401 connected thereto to rotate. The outer wall of the rotating shaft 401 is fixedly connected to the rotating gear 402, and the outer wall of the transmission shaft 403 is fixedly connected to the transmission gear 404. The rotating gear 402 and the transmission gear 404 are fully meshed. Therefore, the rotation of the rotating shaft 401 will drive the rotating gear 402 to rotate, and then the transmission gear 404 will rotate through the gear meshing action. The rotation of the transmission gear 404 in turn drives the transmission shaft 403 to rotate synchronously.

[0046] A clamping plate 405 is fixedly connected to the outer wall of the transmission shaft 403. The end of the clamping plate 405 away from the rotating shaft 401 extends to the outside of the plug-in block 3 through an extension slot provided on one side of the plug-in block 3. As the transmission shaft 403 rotates, the clamping plate 405 also rotates, thereby driving the opening and closing mechanism fixed to the clamping plate 405 and the clamping head 603 to rotate together, thereby adjusting the tilt angle of the needle holder. By controlling the rotation direction and angle of the first micromotor 4, the tilt angle of the needle holder can be precisely controlled to meet the needs of different surgical scenarios.

[0047] In order to ensure the smooth rotation of the gears in the adjustment mechanism, a lubrication box 5 is connected to the inner wall of the connecting cavity. A lubrication roller 501 is rotatably connected to the inside of the lubrication box 5, and one side of the lubrication roller 5 extends to the outside of the lubrication box 501. The outer wall of the transmission gear 404 and the outer wall of the lubrication roller 501 are frictionally fitted. When the transmission gear 404 rotates, friction is generated with the lubrication roller 501, thereby driving the lubrication roller 501 to rotate. During the rotation of the lubrication roller 501, the lubricant on its surface is evenly applied to the transmission gear 404, reducing friction and wear between the gears and extending the service life of the adjustment mechanism. At the same time, an injection hole is opened on the top of the lubrication roller 501, and the injection hole extends to the outside of the plug-in block 3, so that medical personnel can add lubricant to the lubrication box 5 regularly.

[0048] The opening and closing mechanism is installed on the clamping plate 405 and is used to adjust the opening and closing size of the clamping head 603. It is mainly composed of a second micro motor 6, a clamping groove 601, a rotating rod 602 and a clamping head 603; the second micro motor 6 is installed on one side of the clamping plate 405, one end of the rotating rod 602 is rotatably connected to the inside of the clamping groove 601, and the other end is rotatably extended to the outside of the clamping plate 405 and fixedly connected to the output end of the second micro motor 6. When the opening and closing size of the clamping head 603 needs to be adjusted, the second micro motor 6 is started to drive the rotating rod 602 to rotate; the clamping head 603 is fixedly connected to the outer wall of the rotating rod 602 and is located inside the clamping groove 601. As the rotating rod 602 rotates, the clamping head 603 will make a circular motion around the rotating rod 602, thereby realizing the opening and closing action of the clamping head 603. By controlling the rotation direction and angle of the second micro motor 6, the opening and closing size of the clamping head 603 can be accurately controlled to ensure that the surgical needle can be clamped stably and reliably.

[0049] With the above-described technical solution, the adjustment mechanism uses a first micromotor 4 to drive the rotating shaft 401, which, through the meshing transmission of the rotating gear 402 and the transmission gear 404, drives the transmission shaft 403 and the clamping plate 405 to rotate, thereby achieving automatic adjustment of the needle holder's tilt angle. This design allows medical personnel to flexibly adjust the angle of the needle holder according to the surgical site and operational requirements without the need for manual adjustment, greatly improving the convenience and flexibility of operation, and is particularly suitable for the complex and changing laparoscopic surgical environment.

[0050] The opening and closing mechanism drives the rotating rod 602 via the second micromotor 6, causing the clamping head 603 fixed to the rotating rod 602 to open and close within the clamping groove 601. Medical personnel can precisely control the opening and closing size of the clamping head 603 according to the size of the surgical needle and the operating requirements, ensuring stable and reliable clamping of the surgical needle, preventing the surgical needle from slipping or being damaged by over-clamping, and improving the accuracy and safety of the operation.

[0051] Example 2

[0052] like Figure 1 As shown in --6, on the basis of the above-mentioned embodiment 1, a mounting mechanism is additionally provided for installing and using the adjusting mechanism and the opening and closing mechanism with the needle holding rod 2. The mounting mechanism is installed at one end of the needle holding rod 2. The mounting mechanism includes a plug-in block 3, a mounting cavity 301 is provided inside the plug-in block 3, a telescopic rod 302 is connected to the inside of the mounting cavity 301, a top of the telescopic rod 302 is connected to a connecting slide 303, a plug-in magnetic rod 304 and a pressing plate 306 are connected to the top two sides of the connecting slide 303, and the plug-in magnetic rod 304 and the pressing plate 306 are both slidably extended to the outside of the plug-in block 3, a plug-in groove is provided at one end of the needle holding rod 2, a guide groove is provided on the inner wall of the plug-in groove, a socket is provided inside the guide groove, and a mounting magnetic block 305 is connected inside the socket;

[0053] The present invention is further specifically described in detail. The outer wall of the plug-in block 3 and the inner wall of the plug-in slot are slidingly fitted. A sliding hole and a sliding slot are respectively opened on the top of the plug-in block 3. The plug-in magnetic rod 304 and the pressing plate 306 slide through the sliding hole and the sliding slot to extend to the outside of the plug-in block 3 respectively. The outer wall of the plug-in magnetic rod 304 and the inner wall of the guide slot are slidingly fitted. The plug-in magnetic rod 304 and the socket are correspondingly slidably plugged. The plug-in magnetic rod 304 and the mounting magnetic block 305 are correspondingly arranged with opposite poles attracting each other.

[0054] As can be seen from the above, the installation mechanism is mainly composed of a plug-in block 3, a telescopic rod 302, a connecting slide 303, a plug-in magnetic rod 304, a pressing plate 306 and a mounting magnetic block 305, which are used to install and disassemble the adjustment mechanism and the opening and closing mechanism with the needle holding rod 2; during installation, the plug-in block 3 is inserted into the plug-in slot opened at one end of the needle holding rod 2, and the outer wall of the plug-in block 3 and the inner wall of the plug-in slot are slidingly fitted to ensure that the plug-in block 3 can be smoothly inserted into the plug-in slot, and an installation cavity 301 is opened inside the plug-in block 3, and the telescopic rod 302 is connected to the installation cavity 301, and the top of the telescopic rod 302 is connected to the connecting slide 303, and the two sides of the top of the connecting slide 303 are respectively connected to the plug-in magnetic rod 304 and the pressing plate 306, and the plug-in magnetic rod 304 and the pressing plate When the plug block 3 is inserted into the plug slot, the plug magnetic rod 304 slides along the guide slot. When the plug magnetic rod 304 slides to the position corresponding to the plug slot, the connecting slide 303 slides upward under the elastic force of the telescopic rod 302, driving the plug magnetic rod 304 to be inserted into the plug slot. At the same time, since the plug magnetic rod 304 and the mounting magnetic block 305 are arranged with corresponding opposite poles to attract each other, the plug magnetic rod 304 will be tightly adsorbed with the mounting magnetic block 305 after being inserted into the plug slot, thereby firmly fixing the plug block 3 in the plug slot, realizing the installation of the adjustment mechanism and the opening and closing mechanism with the needle holding rod 2;

[0055] When disassembly is required, the medical staff only needs to press the pressing plate 306, which drives the connecting slide 303 to slide downward, compressing the telescopic rod 302, and at the same time withdrawing the plug-in magnetic rod 304 from the insertion hole, releasing the adsorption effect between the plug-in magnetic rod 304 and the mounting magnetic block 305. At this time, the plug-in block 3 can be easily pulled out from the plug-in slot, completing the disassembly of the adjustment mechanism, the opening and closing mechanism and the needle holding rod 2;

[0056] It should be noted that a switch for turning on the first micromotor 4 and the second micromotor 6 is provided on the needle holding handle 1, which facilitates medical personnel to turn on the first micromotor 4 and the second micromotor 6. This is a prior art and its working principle will not be described in detail.

[0057] It should be noted that the extension groove is only used to extend the clamping plate 405 to the outside of the plug-in block 3. The bottom of the extension groove is at a certain distance from the bottom of the inner wall of the connecting cavity, which can store lubricant. The lubricant is frictionally lubricated by the lubricating roller 501. After a single use, there will not be much residue, so it will not affect the patient's body.

[0058] Through the arrangement of the above technical solution, the installation mechanism adopts the mode of cooperating the plug-in block 3 with the plug-in slot of the needle holding rod 2, and the coordinated action of the telescopic rod 302, the connecting slide 303, the plug-in magnetic rod 304 and the mounting magnetic block 305 realizes the rapid installation of the adjustment mechanism and the opening and closing mechanism with the needle holding rod 2. During installation, it is only necessary to insert the plug-in block 3 into the plug-in slot, and the plug-in magnetic rod 304 is automatically inserted into the jack under the elastic force of the telescopic rod 302 and is fixed by adsorption with the mounting magnetic block 305. The operation is simple and quick, which greatly shortens the preparation time before the operation.

[0059] When disassembly is required, medical personnel only need to press the pressing plate 306 to withdraw the plug-in magnetic rod 304 from the insertion hole, release the adsorption effect, and easily pull out the plug-in block 3 from the insertion slot, thereby realizing the disassembly of the adjustment mechanism and the opening and closing mechanism from the needle holder rod 2. This convenient disassembly method facilitates the cleaning, maintenance and replacement of parts of the needle holder, thereby improving the efficiency and life of the device.

[0060] To sum up, through the coordinated work of the above-mentioned mechanisms, the needle holder for high-freedom laparoscopic surgery of the present invention can realize automatic and precise adjustment of the tilt angle of the needle holder and the opening and closing size of the clamping head 603, without the need for medical personnel to perform repeated operations, avoiding the wear of the instrument, thereby improving the clamping function and suturing effect of the needle holder, as well as the convenient installation and disassembly of the various components of the needle holder, greatly improving the operational freedom and convenience of the needle holder in laparoscopic surgery, and providing a strong guarantee for the smooth progress of the operation.

[0061] Example 3

[0062] A method for using a needle holder for high-degree-of-freedom laparoscopic surgery, comprising:

[0063] Step 1: When the inclination angle of the needle holder needs to be adjusted, the first micromotor 4 is started, driving the rotating shaft 401 connected thereto to rotate. The outer wall of the rotating shaft 401 is fixedly connected to the rotating gear 402, and the outer wall of the transmission shaft 403 is fixedly connected to the transmission gear 404. The rotating gear 402 and the transmission gear 404 are fully meshed. Therefore, the rotation of the rotating shaft 401 drives the rotating gear 402 to rotate, and then the transmission gear 404 rotates through the gear meshing action. The rotation of the transmission gear 404 drives the transmission shaft 403 to rotate synchronously.

[0064] Step 2: The outer wall of the transmission shaft 403 is fixedly connected to the clamping plate 405. The end of the clamping plate 405 away from the rotating shaft 401 extends to the outside of the plug-in block 3 through an extension slot provided on one side of the plug-in block 3. As the transmission shaft 403 rotates, the clamping plate 405 also rotates, thereby driving the opening and closing mechanism fixed to the clamping plate 405 and the clamping head 603 to rotate together;

[0065] Step 3: When the transmission gear 404 rotates, it generates friction with the lubricating roller 501, thereby driving the lubricating roller 501 to rotate. During the rotation of the lubricating roller 501, the lubricant on its surface is evenly applied to the transmission gear 404;

[0066] Step 4: When the opening and closing size of the clamping head 603 needs to be adjusted, the second micromotor 6 is started to drive the rotating rod 602 to rotate; the clamping head 603 is fixedly connected to the outer wall of the rotating rod 602 and is located inside the clamping groove 601. As the rotating rod 602 rotates, the clamping head 603 will make a circular motion around the rotating rod 602, thereby realizing the opening and closing action of the clamping head 603;

[0067] Step 5: When the plug-in block 3 is inserted into the plug-in slot, the plug-in magnetic rod 304 slides along the guide slot. When the plug-in magnetic rod 304 slides to the position corresponding to the socket, under the elastic force of the telescopic rod 302, the connecting slide 303 slides upward, driving the plug-in magnetic rod 304 to be inserted into the socket. At the same time, since the plug-in magnetic rod 304 and the mounting magnetic block 305 are arranged with corresponding opposite poles to attract each other, the plug-in magnetic rod 304 will be tightly adsorbed with the mounting magnetic block 305 after being inserted into the socket, thereby firmly fixing the plug-in block 3 in the plug-in slot;

[0068] Step 6: The medical staff only needs to press the pressing plate 306, and the pressing plate 306 drives the connecting slide 303 to slide downward, compressing the telescopic rod 302, and at the same time withdrawing the plug-in magnetic rod 304 from the socket, releasing the adsorption effect between the plug-in magnetic rod 304 and the mounting magnetic block 305. At this time, the plug-in block 3 can be easily pulled out from the plug-in slot, completing the disassembly of the adjustment mechanism, the opening and closing mechanism and the needle holding rod 2.

[0069] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A needle holder for high-degree-of-freedom laparoscopic surgery, characterized in that: include: The needle holding handle (1) and the clamping head (603) are used for medical personnel to operate the needle holder, and one end of the needle holding handle (1) is connected to the needle holding rod (2); An adjustment mechanism for adjusting the inclination angle of the needle holder, the adjustment mechanism comprising a first micro motor (4) and a transmission shaft (403), one end of the first micro motor (4) being connected to a rotating shaft (401), the rotating shaft (401) and the outer side wall of the transmission shaft (403) being fixedly connected to a rotating gear (402) and a transmission gear (404), respectively, the outer side wall of the transmission shaft (403) being fixedly connected to a clamping plate (405); An opening and closing mechanism is used to adjust the opening and closing size of the clamping head (603), the opening and closing mechanism is located on the adjusting mechanism, the opening and closing mechanism includes a second micro motor (6) installed on one side of the clamping plate (405), a clamping groove (601) is provided on the clamping plate (405), the interior of the clamping groove (601) is rotatably connected to a rotating rod (602), one end of the rotating rod (602) away from the clamping groove (601) is rotated and extended to the outside of the clamping plate (405), and is fixedly connected to the output end of the second micro motor (6), the clamping head (603) is fixedly connected to the outer wall of the rotating rod (602), and the clamping head (603) is located inside the clamping groove (601); The mounting mechanism is used for mounting the adjusting mechanism, the opening and closing mechanism and the needle holding rod (2) for use, and the mounting mechanism is mounted on one end of the needle holding rod (2).

2. The needle holder for high-freedom laparoscopic surgery according to claim 1, characterized in that: The installation mechanism includes a plug-in block (3), an installation cavity (301) is provided inside the plug-in block (3), a telescopic rod (302) is connected inside the installation cavity (301), the top of the telescopic rod (302) is connected to a connecting slide (303), the top two sides of the connecting slide (303) are respectively connected to a plug-in magnetic rod (304) and a pressing plate (306), and the plug-in magnetic rod (304) and the pressing plate (306) are both slidably extended to the outside of the plug-in block (3), a plug-in slot is provided at one end of the needle holding rod (2), a guide slot is provided on the inner wall of the plug-in slot, a socket is provided inside the guide slot, and a mounting magnetic block (305) is connected inside the socket.

3. The needle holder for high-degree-of-freedom laparoscopic surgery according to claim 2, characterized in that: A connecting cavity is provided inside the plug-in block (3), the first micro motor (4) is mounted on the inner wall of the connecting cavity, the rotating shaft (401) is rotatably connected inside the connecting cavity, an extension groove is provided on one side of the plug-in block (3), the outer wall size of the clamping plate (405) is smaller than the size of the extension groove, and one end of the clamping plate (405) away from the rotating shaft (401) extends to the outside of the plug-in block (3) through the extension groove.

4. The needle holder for high-freedom laparoscopic surgery according to claim 3, characterized in that: The inner wall of the connecting cavity is connected to a lubrication box (5), the interior of the lubrication box (5) is rotatably connected to a lubrication roller (501), and one side of the lubrication roller (501) extends to the outside of the lubrication box (5), the rotating gear (402) and the transmission gear (404) are fully meshed, the outer wall of the transmission gear (404) and the outer wall of the lubrication roller (501) are frictionally fitted, and an injection hole is provided on the top of the lubrication roller (501), and the injection hole extends to the outside of the plug-in block (3).

5. The needle holder for high-freedom laparoscopic surgery according to claim 2, characterized in that: The outer wall of the plug-in block (3) and the inner wall of the plug-in slot are slidably fitted, and a sliding hole and a sliding slot are respectively provided on the top of the plug-in block (3), and the plug-in magnetic rod (304) and the pressing plate (306) slide through the sliding hole and the sliding slot to extend to the outside of the plug-in block (3).

6. The needle holder for high-freedom laparoscopic surgery according to claim 2, characterized in that: The outer side wall of the plug-in magnetic rod (304) and the inner side wall of the guide slot are arranged to be slidably fitted, the plug-in magnetic rod (304) and the socket are arranged to be correspondingly slidably plugged, and the plug-in magnetic rod (304) and the mounting magnetic block (305) are arranged to attract each other with corresponding opposite poles.

7. The needle holder for high-freedom laparoscopic surgery according to claim 1, characterized in that: The size of the rotating gear (402) is smaller than the size of the transmission gear (404).

8. The method for using the needle holder for high-degree-of-freedom laparoscopic surgery according to any one of claims 1 to 7, characterized in that: include: Step 1: When the inclination angle of the needle holder needs to be adjusted, the first micro motor (4) is started, driving the rotating shaft (401) connected thereto to rotate, the outer wall of the rotating shaft (401) is fixedly connected to the rotating gear (402), the outer wall of the transmission shaft (403) is fixedly connected to the transmission gear (404), and the rotating gear (402) and the transmission gear (404) are fully meshed, so that the rotation of the rotating shaft (401) drives the rotating gear (402) to rotate, and then the transmission gear (404) rotates through the gear meshing action, and the rotation of the transmission gear (404) drives the transmission shaft (403) to rotate synchronously; Step 2: The outer wall of the transmission shaft (403) is fixedly connected with a clamping plate (405), and one end of the clamping plate (405) away from the rotating shaft (401) extends to the outside of the plug-in block (3) through an extension slot provided on one side of the plug-in block (3). As the transmission shaft (403) rotates, the clamping plate (405) also rotates, thereby driving the opening and closing mechanism fixed on the clamping plate (405) and the clamping head (603) to rotate together; Step 3: When the transmission gear (404) rotates, friction is generated with the lubricating roller (501), thereby driving the lubricating roller (501) to rotate. During the rotation of the lubricating roller (501), the lubricant on the surface of the lubricating roller (501) is evenly applied to the transmission gear (404); Step 4: When the opening and closing size of the clamping head (603) needs to be adjusted, the second micro motor (6) is started to drive the rotating rod (602) to rotate; the clamping head (603) is fixedly connected to the outer wall of the rotating rod (602) and is located inside the clamping groove (601). As the rotating rod (602) rotates, the clamping head (603) will perform a circular motion around the rotating rod (602), thereby realizing the opening and closing action of the clamping head (603); Step 5: When the plug-in block (3) is inserted into the plug-in slot, the plug-in magnetic rod (304) slides along the guide slot. When the plug-in magnetic rod (304) slides to a position corresponding to the socket, under the elastic force of the telescopic rod (302), the connecting slide plate (303) slides upward, driving the plug-in magnetic rod (304) to be inserted into the socket. At the same time, since the plug-in magnetic rod (304) and the mounting magnetic block (305) are arranged with corresponding opposite poles to attract each other, the plug-in magnetic rod (304) will be tightly adsorbed with the mounting magnetic block (305) after being inserted into the socket, thereby firmly fixing the plug-in block (3) in the plug-in slot; Step 6: The medical staff only needs to press the pressing plate (306), and the pressing plate (306) drives the connecting slide plate (303) to slide downward, compressing the telescopic rod (302), and at the same time making the plug-in magnetic rod (304) withdraw from the socket, releasing the adsorption effect between the plug-in magnetic rod (304) and the installation magnetic block (305). At this time, the plug-in block (3) can be easily pulled out from the plug-in slot, completing the disassembly of the adjustment mechanism and the opening and closing mechanism and the needle holding rod (2).

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