Universal joint ball pair locking mechanism and medical instrument

Abstract

The application discloses a universal joint ball pair locking mechanism and medical equipment, and relates to the field of medical equipment. The universal joint ball pair locking mechanism comprises a ball joint and a locking assembly. The ball joint comprises an inner ball head and an outer ball body which are hingedly connected with each other. The locking assembly comprises a first engaging member, a second engaging member and an unlocking driving member. The application realizes rigid locking through the engagement of the first engaging member and the second engaging member. The locking design is not affected by factors such as changes in the friction coefficient and wear, and can stably maintain the relative angle of the inner ball head and the outer ball body, thereby avoiding adverse loosening caused by friction failure and improving the stability of the locking strength. The locking assembly has two states of locking and unlocking. When unlocked, the inner ball head and the outer ball body can be universally adjusted, thereby meeting the requirement of flexible equipment to reach a target position and angle. When locked, stable support is provided through rigid engagement, and the use requirements of flexible adjustment and reliable locking are considered, so that the application is well applicable to application occasions of the stability of equipment operation.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a universal joint ball joint locking mechanism and a medical device. Background Technology

[0002] The use of universal joint ball joints in medical devices allows the device to reach desired angles and positions more flexibly, improving operational convenience. In related technologies, ball joint structures often rely on frictional locking, such as placing a friction plate on the outside of the ball joint. By applying pressure to the outer ball joint, the structure achieves a locked rotation angle. However, this method suffers from unstable locking strength and is prone to loosening due to changes in external forces or frictional wear. This is particularly problematic at the operating end of medical devices, posing a risk of wobbling at the front-end actuator, affecting the precision of surgical procedures and reducing operational accuracy. Therefore, structures relying on frictional locking at the operating end struggle to provide stable support, making the front-end actuator susceptible to instability during complex operations. Summary of the Invention

[0003] In view of this, the present invention provides a universal joint ball joint locking mechanism and a medical device to solve the problems mentioned in the background art.

[0004] In a first aspect, the present invention provides a universal joint ball joint locking mechanism, including a ball joint and a locking assembly, wherein the ball joint includes an inner ball head and an outer ball body that are hinged to each other; the locking assembly includes a first engaging member disposed on the inner ball head, a second engaging member disposed on the outer ball body, and an unlocking drive member;

[0005] The first engaging member and the second engaging member are configured to engage or disengage with each other;

[0006] The locking assembly has a locked state and an unlocked state:

[0007] In the locked state, the first engaging member and the second engaging member remain engaged under the action of elastic preload or in the locked moving position to rigidly lock the relative angle between the inner ball head and the outer ball.

[0008] In the unlocked state, the unlocking drive member receives an external operating force and drives the first engaging member and the second engaging member to overcome the elastic preload or the unlocking movement position and disengage, allowing the inner ball head and the outer ball to be adjusted in all directions.

[0009] Beneficial effects: This application achieves rigid locking through the engagement of the first and second engaging components. The locking design of the engaging structure is unaffected by changes in the friction coefficient or wear, and can stably maintain the relative angle between the inner ball head and the outer ball, thereby avoiding loosening due to friction failure and improving the stability of the locking strength. Since rigid locking can effectively prevent relative displacement between the inner ball head and the outer ball in the locked state, applying this locking mechanism to the operating end of a medical device can completely eliminate the risk of front-end wobbling, ensuring the stability of the instrument's position and angle during operations such as surgery, significantly improving operational accuracy, and avoiding the impact of operational instability on surgical results. The locking assembly has two states: locking and unlocking. When unlocking, the first and second engaging components can be disengaged through the unlocking drive component, allowing the inner ball head and outer ball to be adjusted in all directions, meeting the need for the instrument to flexibly reach the target position and angle. When locking, the rigid engagement provides stable support, taking into account both the need for flexible adjustment and reliable locking, making it well-suited for applications requiring stable instrument operation in complex operating scenarios.

[0010] In some embodiments, the unlocking drive component includes two pressing members and two elastic members. The two pressing members are movably disposed on the inner ball head. The inner ball head has two symmetrically arranged mounting grooves. One elastic member is correspondingly disposed in each mounting groove. The mounting groove has space for the elastic member to move. The two elastic members are respectively connected between the two pressing members. The elastic member has multiple toothed grooves, which constitute the first meshing member. The second meshing member is configured as a locking gear. There are two locking gears, which are spaced apart on the inner wall of the outer ball. The outer ball is sleeved on the inner ball head, and the locking gear is placed in the mounting groove so as to mesh with the first meshing member through the elastic action of the elastic member.

[0011] The pressing member includes a pressing part and a force transmitting part. The force transmitting part is connected to the elastic member. The pressing part is adapted to receive external force and, through the force transmitting part, disengages the tooth groove on the elastic member from the first engaging member.

[0012] Beneficial effects: The first engaging component is composed of multiple toothed grooves on the elastic element, and the second engaging component is composed of two locking gears. The locking gears are placed in the assembly groove and engage with the toothed grooves through the elastic action of the elastic element. The elastic preload of the elastic element can continuously ensure the tight engagement between the toothed grooves and the locking gears, avoiding locking loosening caused by meshing gaps and improving the stability of rigid locking. At the same time, the meshing design of multiple toothed grooves increases the meshing contact area and enhances the locking strength. In specific operation, the pressing component receives external force through the pressing part and then acts directly on the elastic element through the force transmission part, accurately driving the toothed grooves on the elastic element to disengage from the locking gears. The unlocking operation path is short and the force transmission is direct, without complicated operation steps, thus allowing for quick switching to the unlocked state. It is convenient for operators to adjust the angle of the inner ball head and the outer ball according to their needs, improving the ease of operation. The two pressing components and the two elastic elements are symmetrically arranged to ensure that the elastic elements are subjected to balanced force during unlocking, improving the smoothness of operation and avoiding unlocking jamming or damage to the meshing structure due to unilateral force. The inner ball head is symmetrically equipped with assembly slots, and the elastic element is installed in the corresponding assembly slot. The assembly slot provides installation space and movement space for the elastic element, ensuring the normal movement of the elastic element in the locked and unlocked states, and promoting the compact layout of the overall structure, which is suitable for the application scenarios of miniaturized medical devices.

[0013] In some embodiments, the elastic member includes a first elastic portion, a second elastic portion, and a third elastic portion connected in sequence. The first elastic portion and the third elastic portion are respectively bent and disposed on the same side of the second elastic portion. The second elastic portion is fixedly connected to the inner ball head. The first elastic portion and the second elastic portion are respectively provided with a plurality of tooth grooves along their extension direction. The locking gear is disposed between the first elastic portion and the third elastic portion.

[0014] Beneficial effects: This bending design allows the first and third elastic parts to wrap around the locking gear from both sides. The multiple tooth grooves arranged along the extension direction of the first and second elastic parts can form multi-directional meshing with the locking gear, increasing the meshing coverage range and ensuring that the inner ball head and outer ball can achieve stable meshing at different angle positions during locking, avoiding local locking failure. In addition, for the segmented elastic component, the second elastic part serves as the elastic support base, while the first and third elastic parts serve as elastic deformation parts, flexibly deforming according to meshing requirements to adapt to the position of the locking gear. The segmented design helps reduce local stress concentration in the elastic component, ensuring the long-term reliability of the locking assembly.

[0015] In some embodiments, the force transmission part includes a first force transmission rod and a second force transmission rod. The first force transmission rod is spaced apart and disposed on the outer side of the inner ball head. The pressing part of the first force transmission rod is fixedly connected to it. One end of the second force transmission rod is fixedly connected to the first force transmission rod, and the other end is connected to the elastic element. Two second force transmission rods are provided and symmetrically disposed on both sides of the first force transmission rod. The two second force transmission rods are respectively connected to the first elastic part or the third elastic part of the two elastic elements.

[0016] Beneficial effects: The force transmission section adopts a combination structure of a first force transmission rod and two symmetrically arranged second force transmission rods. The first force transmission rods are spaced around the outer side of the inner ball head, which can evenly receive the external force transmitted by the pressing part. Then, the force is synchronously transmitted to the first or third elastic part of the two elastic elements through the symmetrical second force transmission rods on both sides, realizing the uniform distribution of force. This ensures that the two elastic elements are subjected to force simultaneously and synchronously drive the tooth groove and locking gear to disengage. It avoids the problem of asynchronous unlocking caused by uneven force transmission on one side, resulting in a jamming problem where one side is disengaged while the other side is still engaged, thus improving the unlocking operation. Smoothness and stability: The second force transmission rod is connected to the first or third elastic part of the elastic element, forming a multi-point force support. This allows the elastic element to obtain a stable force application point through the second force transmission rod when it is unlocked or locked by elastic reset. This reduces the meshing position deviation caused by force offset of the elastic element and ensures that the tooth groove and locking gear can be accurately aligned and meshed when locked, which helps to improve locking accuracy. At the same time, the first force transmission rod is fixedly connected to the pressing part to ensure that the force can be efficiently transmitted to the force transmission part when pressing, avoiding force loss during transmission and improving the effortlessness of unlocking operation.

[0017] In some embodiments, the second force transmission rod includes a fixedly connected abutment rod and a clearance rod, wherein the abutment rod abuts against the first elastic portion or the third elastic portion, and the clearance rod is spaced apart from the first elastic portion or the third elastic portion.

[0018] Beneficial effects: The abutting rod abuts against the first or third elastic part of the elastic element to transmit the unlocking force, ensuring sufficient contact surface. The avoidance rod is spaced apart from the elastic element so that the force applied by the pressing element can overcome the elastic clamping effect of the elastic element, making unlocking easier and avoiding interference with the elastic deformation of the spring. This ensures that the elastic element can move smoothly during elastic deformation, improving the response speed of locking and unlocking switching.

[0019] In some embodiments, the end of the second force transmission rod opposite to the end of the first force transmission rod is provided with a connecting end, and the outer walls of the first elastic part and the third elastic part are bent to provide a fixing part, the fixing part is provided with a connecting groove, and the connecting end is inserted into the connecting groove.

[0020] Beneficial effects: The plug-in design of the connecting end and the connecting groove helps to enhance the connection reliability between the force transmission rod and the elastic element, prevents detachment or misalignment, and improves the durability and assembly accuracy of the overall structure.

[0021] In some embodiments, the first force transmission rod is configured as an arc-shaped rod, the inner ball head includes an inner ball portion and a neck sleeve portion, the neck sleeve portion is disposed on the side of the inner ball portion away from the outer ball, and the first force transmission rod is spaced around the outside of the neck sleeve portion.

[0022] Beneficial effects: The first force transmission rod is designed as an arc-shaped rod and is spaced around the outside of the neck sleeve, making the overall structure more compact and suitable for the narrow assembly environment in medical devices.

[0023] In some embodiments, the inner ball head is provided with a connecting block, the second elastic part is fixedly connected to the connecting block, and the connecting block is disposed on the side of the second elastic part opposite to the first elastic part.

[0024] Beneficial effects: The connecting block can provide a stable support and fixing point for the second elastic part, preventing the installation position of the elastic element from shifting during long-term elastic deformation, ensuring that the tooth groove on the elastic element can always be accurately aligned with the locking gear, and guaranteeing the reliability of meshing; at the same time, the setting of the connecting block also facilitates the installation and disassembly of the elastic element, improving assembly efficiency.

[0025] In some embodiments, the locking gear includes an external gear ring and a limiting post arranged coaxially. The external gear ring meshes with the tooth groove in a conformal manner. A limiting groove is provided on the inner ball head. The limiting groove is connected to the assembly groove. The limiting post slides against the limiting groove.

[0026] Beneficial effects: The outer gear ring of the locking gear meshes with the tooth groove of the elastic element in a conformal design. This conformal design ensures that the tooth profiles of the outer gear ring and the tooth groove match, avoiding meshing gaps caused by tooth profile deviations, reducing relative displacement in the locked state, and improving the stability of rigid locking. At the same time, the limiting post slides against the limiting groove of the inner ball head. The limiting post can slide along the limiting groove, providing guidance for the meshing of the locking gear and the tooth groove, ensuring that the outer gear ring always meshes with the tooth groove along the preset trajectory, avoiding meshing failure caused by tooth surface misalignment during meshing, and effectively improving meshing accuracy. In addition, the sliding contact between the limiting post and the limiting groove can limit the relative rotation angle between the inner ball head and the outer ball, preventing excessive rotation by the operator during unlocking and adjustment, which could cause excessive force damage to the elastic element or locking gear, thus protecting the structural safety of the locking assembly. This angle limitation also helps to ensure that the actuator at the front end of the medical device moves within a safe adjustment range, avoiding the impact of excessive adjustment on the safety of surgical operations.

[0027] In some embodiments, the first meshing member is configured as a gear member, and two gear members are provided, with the two gear members symmetrically fixed to the outer wall of the inner ball head;

[0028] The unlocking drive component is configured as a toothed cover, and two toothed covers are provided, which are movably disposed on the outside of the outer sphere; the toothed cover has a toothed edge on the side facing the gear component, and the toothed edge constitutes the second meshing component, and the toothed edge meshes with the gear component in a conformal manner.

[0029] Beneficial effects: The first meshing component is set as two symmetrical gear components fixed to the outer wall of the inner ball head, and the second meshing component is the toothed edge on the toothed cover. This structure is simple in design, requiring no complex spring installation space or elastic pre-tightening design, simplifying assembly steps, improving the overall assembly efficiency of the mechanism, and reducing production costs. At the same time, the symmetrically arranged gear components and toothed cover ensure that the inner ball head is subjected to balanced force during locking, avoiding locking deviation caused by unilateral force. The unlocking drive component is the toothed cover movably set on the outer side of the outer ball. The toothed edge can be engaged or disengaged from the gear component by moving the toothed cover. When locked in the moving position, the toothed edge and gear component are conformally engaged. The moving locking method can precisely control the engagement depth by controlling the moving distance of the toothed cover to ensure tight engagement. The toothed cover is movably set on the outer side of the outer ball, with a larger range of motion, making it easier for operators to switch between locking and unlocking by moving the toothed cover, improving operational convenience.

[0030] In some embodiments, the toothed cover includes a first toothed edge, a second toothed edge, and a toothed cover body. The first toothed edge and the second toothed edge are symmetrically fixed on the same side of the toothed cover body. The first toothed edge and the second toothed edge are spaced apart and avoid the outer sphere.

[0031] In the locked moving position, the first and second toothed edges of the two toothed covers clamp together to lock the two gears.

[0032] Beneficial effects: The first and second toothed edges of the toothed cover are symmetrically fixed on the same side of the toothed cover body and spaced apart. When locking the moving position, the first and second toothed edges of the two toothed covers are used to clamp and lock the two gear parts, forming a multi-toothed, multi-directional clamping and meshing form, which increases the meshing contact area and locking force, improves the locking strength, and more stably locks the relative angle between the inner ball head and the outer ball, avoiding the risk of shaking at the front end of the actuator. The first and second toothed edges are spaced apart and avoid the outer ball. This avoidance design ensures that the toothed edges do not interfere with the outer ball during the locking or unlocking process of the toothed cover, ensuring that the toothed cover can move smoothly and avoiding jamming during locking or unlocking. At the same time, the avoidance design also makes the layout of the toothed cover and the outer ball more reasonable and reduces the space occupied by the overall structure.

[0033] In some embodiments, the tooth cover body is configured as an arc-shaped member, the outer sphere includes an outer spherical portion and a neck, the neck is disposed on the side of the outer spherical portion away from the inner spherical head; the neck is provided with a positioning hole, the middle section of the tooth cover body is provided with a guide hole, the positioning hole and the guide hole are coaxially arranged, the positioning hole and the guide hole are adapted to install a guide shaft to guide the tooth cover to switch between a locked moving position and an unlocked moving position;

[0034] The toothed cover body is provided with two guide grooves, which are located at both ends of the toothed cover body. Four positioning posts protrude from the outer wall of the outer ball portion. The four positioning posts extend parallel to each other and slide in correspondence with the four guide grooves on the two toothed cover parts to guide the toothed cover parts to switch between the locked moving position and the unlocked moving position.

[0035] Beneficial effects: The positioning hole on the neck is coaxial with the guide hole on the main body of the toothed cover. By installing the guide shaft, the movement direction of the toothed cover can be precisely guided, ensuring that the toothed cover moves along the preset axis between the locked and unlocked positions, avoiding misalignment of the toothed edge and the gear due to the toothed cover's movement deviation. At the same time, the four positioning pins on the outer ball and the four guide grooves on the toothed cover slide in corresponding contact, forming a multi-point guiding structure, which directionally restricts the movement trajectory of the toothed cover, ensuring that the toothed cover remains stable during movement and improving the stability and accuracy of locking and unlocking switching. In addition, through the guiding cooperation of the positioning hole, guide hole and guide shaft, positioning pin and guide groove, the toothed cover and the outer ball form a stable moving connection relationship. The two ends and the middle section of the toothed cover are oriented to move with the outer ball, ensuring the structural integrity of the locking assembly for long-term use, improving the motion accuracy, reducing the alignment difficulty when the toothed edge and the gear mesh, and enabling the toothed edge to quickly and accurately mesh with the gear when locking, thus improving operating efficiency.

[0036] In some embodiments, a fixing post is provided on the outer wall of the inner ball head, and the gear component is fixed to the end of the fixing post away from the inner ball head; an abutment groove is provided on the outer ball portion, and the fixing post and the abutment groove are slidably abutted together.

[0037] Beneficial effects: The abutment groove of the outer ball joint slides against the fixing post. When the inner ball head and the outer ball rotate relative to each other, the fixing post slides along the abutment groove. The length of the abutment groove limits the sliding range of the fixing post, thereby limiting the relative rotation angle between the inner ball head and the outer ball. This prevents excessive rotation from causing excessive meshing or disengagement between the gear and the tooth edge, resulting in tooth surface wear or structural damage. This protects the locking assembly and extends the service life of the overall locking mechanism. The fixing post on the outer wall of the inner ball head provides stable installation support for the gear, allowing it to be fixed in the preset position of the inner ball head, improving the installation stability and meshing accuracy of the gear. In addition, the fixing post facilitates the installation and disassembly of the gear, reducing maintenance difficulty.

[0038] Secondly, the present invention also provides a medical device including the aforementioned universal joint ball joint locking mechanism.

[0039] Beneficial effects: Medical devices have good rigid locking performance, which can solve the problems of unstable locking and wobble of the front end caused by the reliance on friction locking in medical devices. It is beneficial to improve the position and angle stability of medical devices during operation, ensure the accuracy of operations such as surgery, reduce the operational risks caused by instability of the actuator, and improve the safety and reliability of medical devices. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a structural diagram of the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0042] Figure 2 This is a structural diagram of the outer ball in the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0043] Figure 3 This is a structural diagram of the inner ball head in the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0044] Figure 4 This is a connection diagram of the inner ball head and the unlocking drive component in the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0045] Figure 5 This is a structural diagram of the unlocking drive component in the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0046] Figure 6 This is a structural diagram of the elastic element in the universal joint ball joint locking mechanism of Embodiment 1 of the present invention;

[0047] Figure 7 This is a structural diagram of the universal joint ball joint locking mechanism of Embodiment 2 of the present invention;

[0048] Figure 8 This is a structural diagram of the outer ball in the universal joint ball joint locking mechanism of Embodiment 2 of the present invention;

[0049] Figure 9 This is a structural diagram of the inner ball head in the universal joint ball joint locking mechanism of Embodiment 2 of the present invention;

[0050] Figure 10 This is a structural diagram of the toothed cover in the universal joint ball joint locking mechanism of Embodiment 2 of the present invention;

[0051] Explanation of reference numerals in the attached figures:

[0052] 101. Outer sphere; 1011. Outer spherical part; 1012. Neck; 1013. Mounting hole; 1014. Abutment groove; 1015. Positioning hole; 1016. Positioning post; 102. Inner ball head; 1021. Inner spherical part; 1022. Neck sleeve part; 1023. Neck ring groove; 1024. Assembly groove; 1025. Limiting groove; 1026. Connecting block; 201. Pressing part; 2011. Pressing part; 2012. First force transmission rod; 2013. Second force transmission rod; 20131. Abutment rod; 2 0132, Avoidance bar; 2014, Connecting end; 202, Elastic element; 2021, First elastic part; 2022, Second elastic part; 2023, Third elastic part; 2024, Fixing part; 2025, Gear groove; 203, Locking gear; 2031, External gear ring; 2032, Limiting post; 204, Gear cover; 2041, First tooth edge; 2042, Second tooth edge; 2043, Gear cover body; 2044, Guide hole; 2045, Guide groove; 205, Gear component; 206, Fixing post. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] The following is combined with Figures 1 to 10 The following describes embodiments of the present invention.

[0055] Example 1

[0056] According to an embodiment of the present invention, a universal joint ball joint locking mechanism is provided, including a ball joint and a locking assembly. The ball joint includes an inner ball head 102 and an outer ball 101 that are hinged to each other. The locking assembly includes a first engaging member disposed on the inner ball head 102, a second engaging member disposed on the outer ball 101, and an unlocking drive member. The first engaging member and the second engaging member are configured to engage or disengage with each other.

[0057] In this embodiment, the locking assembly has a locked state and an unlocked state: in the locked state, the first engaging member and the second engaging member remain engaged under the action of elastic preload to rigidly lock the relative angle between the inner ball head 102 and the outer ball 101; in the unlocked state, the unlocking drive member receives an external operating force and drives the first engaging member and the second engaging member to overcome the elastic preload and disengage, allowing the inner ball head 102 and the outer ball 101 to be adjusted in all directions.

[0058] In specific embodiments, such as Figure 2 and Figure 3 As shown, the outer sphere 101 includes an outer spherical portion 1011 and a neck 1012. The outer spherical portion 1011 has a hollow cavity. The inner spherical head 102 includes an inner spherical portion 1021 and a neck sleeve portion 1022. Both the outer sphere 101 and the inner spherical portion 1021 are hollow, incomplete spheres. The inner spherical portion 1021 is movably disposed within the hollow cavity via a ball joint. The neck 1012 and the neck sleeve portion 1022 are cylindrical structures. The neck 1012 communicates with the inner cavity of the inner spherical portion 1021, and the neck sleeve portion 1022 also communicates with the inner cavity of the inner spherical portion 1021 to establish an internal channel through which external micro-devices can pass.

[0059] In specific embodiments, such as Figure 1 and Figure 4 As shown, the unlocking drive component includes two pressing members 201 and two elastic members 202. The two pressing members 201 are movably mounted on the inner ball head 102. The inner ball head 102 has two symmetrically arranged mounting grooves 1024, each containing a corresponding elastic member 202. The mounting grooves 1024 provide space for the elastic members 202 to move. The two elastic members 202 are respectively connected between the two pressing members 201. A stepped block lower than the outer diameter of the inner ball head 102 can be provided at the mounting groove 1024 to form a recess for the assembly of the elastic members 202. The symmetrically arranged mounting grooves 1024 on the inner ball head 102 allow the elastic members 202 to be installed within them. The mounting grooves 1024 provide installation and movement space for the elastic members 202, ensuring normal movement of the elastic members 202 in locked and unlocked states, and promoting a compact overall structural layout suitable for miniaturized medical device applications.

[0060] In specific embodiments, such as Figure 6As shown, the elastic member 202 has multiple toothed grooves 2025, which constitute the first meshing member. The second meshing member is a locking gear 203. There are two locking gears 203, which are spaced apart on the inner wall of the outer sphere 101. The outer sphere 101 is sleeved on the inner ball head 102, and the locking gear 203 is placed in the assembly groove 1024 so as to mesh with the first meshing member through the elastic action of the elastic member 202. The pressing member 201 includes a pressing part 2011 and a force transmission part. The force transmission part is connected to the elastic member 202. The pressing part 2011 is adapted to receive external force and disengages from the first meshing member through the toothed grooves 2025 on the elastic member 202 by the force transmission part.

[0061] In this embodiment, the first meshing member is configured as multiple toothed grooves 2025 on the elastic member 202, and the second meshing member is configured as two locking gears 203. The locking gears 203 are placed in the assembly groove 1024 and mesh with the toothed grooves 2025 through the elastic action of the elastic member 202. The elastic preload of the elastic member 202 can continuously ensure the tight meshing of the toothed grooves 2025 and the locking gears 203, avoid the locking loosening caused by the meshing gap, and improve the stability of the rigid locking. At the same time, the meshing design of multiple toothed grooves 2025 increases the meshing contact area and enhances the locking strength.

[0062] In actual operation, the pressing component 201 receives external force through the pressing part 2011, and then the force transmission part directly acts on the elastic component 202, precisely driving the toothed groove 2025 on the elastic component 202 to disengage from the locking gear 203. The unlocking operation path is short and the force transmission is direct, without the need for complicated operation steps, so it can quickly switch to the unlocked state. This allows the operator to adjust the angle between the inner ball head 102 and the outer ball 101 as needed, improving the ease of operation. The two pressing components 201 and the two elastic components 202 are symmetrically arranged to ensure that the elastic component 202 is subjected to balanced force during unlocking, improving the smoothness of operation and avoiding unlocking jamming or damage to the meshing structure due to force on one side.

[0063] In an exemplary embodiment, such as Figure 5 and Figure 6As shown, the elastic element 202 includes a first elastic part 2021, a second elastic part 2022, and a third elastic part 2023 connected in sequence. The first elastic part 2021 and the third elastic part 2023 are respectively bent and disposed on the same side of the second elastic part 2022. The second elastic part 2022 is fixedly connected to the inner ball head 102. The first elastic part 2021 and the second elastic part 2022 are respectively provided with a plurality of tooth grooves 2025 along their extension direction. The locking gear 203 is disposed between the first elastic part 2021 and the third elastic part 2023. This bending design allows the first elastic part 2021 and the third elastic part 2023 to wrap around the locking gear 203 from both sides. The multiple tooth grooves 2025 arranged along the extension direction of the first elastic part 2021 and the second elastic part 2022 can form multi-directional meshing with the locking gear 203, increasing the meshing coverage range and ensuring that the inner ball head 102 and the outer ball 101 can achieve stable meshing at different angle positions when locking, avoiding local locking failure. In addition, for the segmented elastic element 202, the second elastic part 2022 serves as the elastic support base, and the first elastic part 2021 and the third elastic part 2023 serve as the elastic deformation parts, which can flexibly deform according to the meshing requirements to adapt to the position of the locking gear 203. The segmented design helps to reduce local stress concentration in the elastic element 202 and can ensure the reliability of the locking assembly for long-term use.

[0064] In a further embodiment, such as Figure 5 and Figure 6 As shown, the force transmission part includes a first force transmission rod 2012 and a second force transmission rod 2013. The first force transmission rods 2012 are spaced apart on the outer side of the inner ball head 102. The first force transmission rods 2012 are fixedly connected to the pressing part 2011. One end of the second force transmission rod 2013 is fixedly connected to the first force transmission rod 2012, and the other end is connected to the elastic element 202. There are two second force transmission rods 2013, which are symmetrically arranged on both sides of the first force transmission rod 2012. The two second force transmission rods 2013 are respectively connected to the first elastic part 2021 or the third elastic part 2023 of the two elastic elements 202. The force transmission part adopts a combination structure of a first force transmission rod 2012 and two symmetrically arranged second force transmission rods 2013. The first force transmission rod 2012 is spaced around the outside of the inner ball head 102, which can evenly receive the external force transmitted by the pressing part 2011. Then, the force is synchronously transmitted to the first elastic part 2021 or the third elastic part 2023 of the two elastic members 202 through the symmetrical second force transmission rods on both sides, so as to achieve uniform force distribution and ensure that the two elastic members 202 are subjected to force at the same time and synchronously drive the tooth groove 2025 to disengage from the locking gear 203. This avoids the problem of asynchronous unlocking due to uneven force transmission on one side, resulting in one side being disengaged while the other side is still in the engagement state, thus improving the smoothness and stability of the unlocking operation.

[0065] The second force transmission rod 2013 is connected to the first elastic part 2021 or the third elastic part 2023 of the elastic member 202, forming a multi-point force support. This allows the elastic member 202 to obtain a stable force application point through the second force transmission rod 2013 when it is unlocked or locked by elastic reset. This reduces the meshing position deviation of the elastic member 202 caused by force offset, ensuring that the tooth groove 2025 and the locking gear 203 can be accurately aligned and meshed when locked, which helps to improve the locking accuracy. At the same time, the first force transmission rod 2012 is fixedly connected to the pressing part 2011, ensuring that the force can be efficiently transmitted to the force transmission part when pressing, avoiding force loss during transmission, and improving the effortlessness of unlocking operation.

[0066] In a preferred embodiment, such as Figure 5 As shown, the second force transmission rod 2013 includes a fixedly connected abutment rod 20131 and a clearance rod 20132. The abutment rod 20131 abuts against the first elastic part 2021 or the third elastic part 2023, and the clearance rod 20132 is spaced apart from the first elastic part 2021 or the third elastic part 2023. The abutment rod 20131 abuts against the first elastic part 2021 or the third elastic part 2023 of the elastic member 202 to transmit the unlocking force and ensure sufficient contact surface. The clearance rod 20132 is spaced apart from the elastic member 202 so that the force applied by the pressing member 201 can overcome the elastic clamping effect of the elastic member, making unlocking easier and avoiding interference with the elastic deformation of the spring. This ensures that the elastic member 202 can move smoothly during elastic deformation, improving the response speed of locking and unlocking switching.

[0067] In a specific embodiment, both the abutment rod 20131 and the avoidance rod 20132 are straight rods, and the avoidance rod 20132 is bent at one end of the abutment rod 20131, with the bending angle set to 5°-30°; in other embodiments, the abutment rod 20131 is a straight rod, and the avoidance rod 20132 is a curved rod; of course, both the abutment rod 20131 and the avoidance rod 20132 can also be curved rods, with the abutment rod 20131 arc-shaped and fitted into the assembly groove 1024, and the avoidance rod 20132 warped away from the assembly groove 1024.

[0068] In some embodiments, such as Figure 5 and Figure 6 As shown, the second force transmission rod 2013 has a connecting end 2014 at its end opposite to the first force transmission rod 2012. A fixing part 2024 is bent and provided on the outer wall of the first elastic part 2021 and the third elastic part 2023. The fixing part 2024 has a connecting groove, and the connecting end 2014 is inserted into the connecting groove. This insertion design of the connecting end 2014 into the connecting groove enhances the connection reliability between the force transmission rod and the elastic element 202, prevents detachment or misalignment, and improves the overall structural durability and assembly accuracy.

[0069] In a specific embodiment, the first force transmission rod 2012 is configured as an arc-shaped rod, and the neck sleeve portion 1022 is located on the side of the inner ball portion 1021 away from the outer ball 101. The first force transmission rod 2012 is spaced around the outside of the neck sleeve portion 1022. The fact that the first force transmission rod 2012 is configured as an arc-shaped rod and spaced around the outside of the neck sleeve portion 1022 makes the overall structure more compact and adaptable to the confined assembly environment in medical devices.

[0070] In specific embodiments, such as Figure 3 As shown, the neck collar 1022 is provided with a neck ring groove 1023 so that the first force transmission rod 2012 can move when the force is applied.

[0071] In specific embodiments, such as Figure 3 As shown, the inner ball head 102 is provided with a connecting block 1026, and the second elastic part 2022 is fixedly connected to the connecting block 1026. The connecting block 1026 is located on the side of the second elastic part 2022 opposite to the first elastic part 2021. The connecting block 1026 can provide a stable support and fixing point for the second elastic part 2022, avoiding the installation position displacement of the elastic element 202 during long-term elastic deformation, ensuring that the tooth groove 2025 on the elastic element 202 can always be accurately aligned with the locking gear 203, ensuring the reliability of meshing; at the same time, the setting of the connecting block 1026 also facilitates the installation and disassembly of the elastic element 202, improving assembly efficiency.

[0072] In this embodiment, as Figure 2As shown, the locking gear 203 includes an outer gear ring 2031 and a limiting post 2032 arranged coaxially. The outer gear ring 2031 meshes with the tooth groove 2025 in a conformal manner. The inner ball head 102 is provided with a limiting groove 1025, which is connected to the assembly groove 1024. The limiting post 2032 slides against the limiting groove 1025. The outer gear ring 2031 of the locking gear 203 conformally meshes with the tooth groove 2025 of the elastic element 202. The conformal design ensures that the tooth profile of the outer gear ring 2031 matches that of the tooth groove 2025, avoiding meshing clearance caused by tooth profile deviation, reducing relative displacement in the locked state, and improving the stability of rigid locking. At the same time, the limiting post 2032 slides against the limiting groove 1025 of the inner ball head 102. The limiting post 2032 can slide along the limiting groove 1025, providing guidance for the meshing of the locking gear 203 and the tooth groove 2025, ensuring that the outer gear ring 2031 always follows the preset trajectory and meshes with the tooth groove 2025. The 25-degree engagement prevents meshing failure due to tooth misalignment during engagement, effectively improving engagement accuracy. Simultaneously, the sliding contact between the limiting post 2032 and the limiting groove 1025 restricts the relative rotation angle between the inner ball head 102 and the outer ball 101, preventing excessive rotation during unlocking and adjustment that could damage the elastic element 202 or locking gear 203, thus protecting the structural safety of the locking assembly. This angle limitation also helps ensure that the actuator at the front end of the medical device moves within a safe adjustment range, preventing excessive adjustment from affecting the safety of the surgical procedure.

[0073] In specific embodiments, such as Figure 2 As shown, two mounting holes 1013 are symmetrically provided on the outer ball portion 1011. The mounting holes 1013 are used to fix and install the locking gear 203.

[0074] The universal joint ball joint locking mechanism provided in this embodiment is in automatic locking under normal conditions without external force. The tooth groove 2025 is elastically attached to the locking gear 203 through the elastic element 202, maintaining engagement and locking. When it is necessary to switch to the unlocked state, the pressing part 2011 is applied, and the force is transmitted through the first force transmission rod 2012 and the second force transmission rod 2013, causing the first elastic part 2021 and the third elastic part 2023 of the elastic element 202 to elastically expand outward, causing the tooth groove 2025 to move away from the locking gear 203, thus completing the unlocking purpose.

[0075] This invention achieves rigid locking through the engagement of the first and second engaging components. The locking design of the engaging structure is unaffected by changes in the friction coefficient or wear, and can stably maintain the relative angle between the inner ball head 102 and the outer ball 101, thereby avoiding loosening due to friction failure and improving the stability of the locking strength. Since rigid locking can effectively prevent relative displacement between the inner ball head 102 and the outer ball 101 in the locked state, applying this locking mechanism to the operating end of a medical device can completely eliminate the risk of wobbling at the front end, ensuring the stability of the instrument's position and angle during surgery and other operations, significantly improving operational accuracy, and avoiding the impact of instability at the operating end on surgical results. The locking assembly has two states: locked and unlocked. When unlocked, the first and second engaging components can be disengaged through the unlocking drive component, allowing the inner ball head 102 and the outer ball 101 to be adjusted in all directions, meeting the need for the instrument to flexibly reach the target position and angle. When locked, the rigid engagement provides stable support, taking into account both the need for flexible adjustment and reliable locking, making it well-suited for applications requiring stable instrument operation in complex operating scenarios.

[0076] Example 2

[0077] Unlike Embodiment 1, in this embodiment, the locking assembly has a locked state and an unlocked state: in the locked state, the first engaging member and the second engaging member remain engaged in the locked moving position to rigidly lock the relative angle between the inner ball head 102 and the outer ball 101; in the unlocked state, the unlocking drive member receives an external operating force and drives the first engaging member and the second engaging member to disengage in the unlocked moving position, allowing the inner ball head 102 and the outer ball 101 to be adjusted in all directions.

[0078] In specific embodiments, such as Figure 8 and Figure 9 As shown, the outer sphere 101 includes an outer spherical portion 1011 and a neck 1012. The outer spherical portion 1011 has a hollow cavity. The inner spherical head 102 includes an inner spherical portion 1021 and a neck sleeve portion 1022. Both the outer sphere 101 and the inner spherical portion 1021 are hollow, incomplete spheres. The inner spherical portion 1021 is movably disposed within the hollow cavity via a ball joint. The neck 1012 and the neck sleeve portion 1022 are cylindrical structures. The neck 1012 communicates with the inner cavity of the inner spherical portion 1021, and the neck sleeve portion 1022 also communicates with the inner cavity of the inner spherical portion 1021 to establish an internal channel through which external micro-devices can pass.

[0079] In specific embodiments, such as Figure 7As shown, the first meshing component is a gear component 205, and there are two gear components 205, which are symmetrically fixed on the outer wall of the inner ball head 102; the unlocking drive component is a tooth cover component 204, and there are two tooth cover components 204, which are movably disposed on the outer side of the outer ball 101; the tooth cover component 204 has a toothed edge on the side facing the gear component 205, and the toothed edge constitutes the second meshing component, which meshes with the gear component 205 in a conformal manner.

[0080] In this embodiment, as Figure 7 and Figure 9 As shown, the first meshing component is set as two gear components 205 symmetrically fixed to the outer wall of the inner ball head 102, and the second meshing component is set as the tooth edge on the tooth cover component 204. This structure is simple in design, does not require complex spring plate installation space or elastic pre-tightening design, simplifies the assembly steps, and helps to improve the assembly efficiency of the overall mechanism and reduce production costs. At the same time, the symmetrically arranged gear components 205 and tooth cover components 204 ensure that the inner ball head 102 is subjected to balanced force when locked, avoiding locking deviation caused by unilateral force. The unlocking drive component is a toothed cover 204 movably disposed on the outer side of the outer sphere 101. The toothed cover 204 can be moved to engage or disengage the toothed edge from the gear 205. When locked in the moving position, the toothed edge and the gear 205 are conformally engaged. The moving locking method can precisely control the engagement depth by controlling the moving distance of the toothed cover 204 to ensure tight engagement. The toothed cover 204 is movably disposed on the outer side of the outer sphere 101, providing a larger range of motion and making it easier for operators to switch between locking and unlocking by moving the toothed cover 204, thus improving operational convenience.

[0081] In specific embodiments, such as Figure 7 and Figure 10 As shown, the toothed cover 204 includes a first toothed edge 2041, a second toothed edge 2042, and a toothed cover body 2043. The first toothed edge 2041 and the second toothed edge 2042 are symmetrically fixed on the same side of the toothed cover body 2043. The first toothed edge 2041 and the second toothed edge 2042 are spaced apart and avoid the outer sphere 101. In the locked moving position, the first toothed edge 2041 and the second toothed edge 2042 of the two toothed cover parts 204 together clamp and lock the two gear parts 205.

[0082] The first toothed edge 2041 and the second toothed edge 2042 of the toothed cover 204 are symmetrically fixed on the same side of the toothed cover body 2043 and spaced apart. When locked in the moving position, the first toothed edge 2041 and the second toothed edge 2042 of the two toothed cover 204s jointly clamp and lock the two gear parts 205, forming a multi-toothed, multi-directional clamping and meshing form, which increases the meshing contact area and locking force, improves the locking strength, and more stably locks the inner ball head 102 and the outer ball 10. The relative angle of 1 avoids the risk of shaking at the front end of the actuator; the first tooth edge 2041 and the second tooth edge 2042 are spaced apart and avoid the outer sphere 101. This avoidance design ensures that the tooth edge of the tooth cover 204 does not interfere with the outer sphere 101 during the movement locking or unlocking process, ensuring that the tooth cover 204 can move smoothly and avoid jamming during locking or unlocking; at the same time, the avoidance design also makes the layout of the tooth cover 204 and the outer sphere 101 more reasonable and reduces the space occupied by the overall structure.

[0083] by Figure 7 For example, in an ideal state, Figure 7 When the tooth cover 204 on the left moves to the right to its limit position and the tooth cover 204 on the right moves to the left to its limit position, the gear 205 and the tooth cover 204 are in a locked moving position. Figure 7 When the toothed cover 204 on the left moves to its left limit position and the toothed cover 204 on the right moves to its right limit position, the gear 205 and the toothed cover 204 are in the unlocked moving position.

[0084] In specific embodiments, such as Figure 8 and Figure 10 As shown, the tooth cover body 2043 is configured as an arc-shaped component, with a neck 1012 located on the side of the outer spherical portion 1011 away from the inner spherical head 102. A positioning hole 1015 is provided on the neck 1012, and a guide hole 2044 is provided in the middle section of the tooth cover body 2043. The positioning hole 1015 and the guide hole 2044 are coaxially arranged, and are suitable for mounting a guide shaft to guide the tooth cover component 204 to switch between a locked and unlocked moving position. The positioning hole 1015 of the neck 1012 and the guide hole 2044 of the tooth cover body 2043 are coaxial. By installing a guide shaft, the movement direction of the tooth cover component 204 can be precisely guided, ensuring that the tooth cover component 204 moves along a preset axis between the locked and unlocked moving positions, and preventing misalignment of the tooth edge and gear component 205 due to displacement of the tooth cover component 204.

[0085] In specific embodiments, such as Figure 8 and Figure 10As shown, the toothed cover body 2043 is provided with two guide grooves 2045, which are located at both ends of the toothed cover body 2043. Four positioning posts 1016 protrude from the outer wall of the outer spherical part 1011. The four positioning posts 1016 extend parallel to each other and are slidably connected to the four guide grooves 2045 on the two toothed cover parts 204, guiding the toothed cover parts 204 to switch between the locked and unlocked moving positions. The four positioning posts 1016 of the outer spherical part 1011 and the four guide grooves 2045 of the toothed cover parts 204 form a multi-point guiding structure, directionally restricting the movement trajectory of the toothed cover parts 204, ensuring the smooth movement of the toothed cover parts 204, and improving the stability and accuracy of locking and unlocking switching.

[0086] In this embodiment, the positioning hole 1015, guide hole 2044, guide shaft, positioning post 1016 and guide groove 2045 guide the tooth cover 204 to form a stable movable connection with the outer ball 101. The two ends and the middle section of the tooth cover body 2043 are oriented to move with the outer ball 101, ensuring the structural integrity of the locking assembly for long-term use, improving the motion accuracy, reducing the difficulty of alignment when the tooth edge meshes with the gear 205, and enabling the tooth edge to mesh with the gear 205 quickly and accurately when locking, thus improving operating efficiency.

[0087] In a specific embodiment, a groove can be provided on the positioning post 1016 to insert the post, and the post and guide groove 2045 are slidably connected to achieve the purpose of guiding movement.

[0088] In specific embodiments, such as Figure 10 As shown, the tooth cover body 2043 has an arc-shaped wall recessed on the side facing the neck 1012, and the arc-shaped wall corresponds to the neck 1012; the positioning hole 1015 is provided through the arc-shaped wall.

[0089] In this embodiment, a fixing post 206 is provided on the outer wall of the inner ball head 102, and the gear component 205 is fixed to the end of the fixing post 206 away from the inner ball head 102; an abutment groove 1014 is provided on the outer ball part 1011, and the fixing post 206 and the abutment groove 1014 are slidably abutted together.

[0090] The abutment groove 1014 of the outer ball portion 1011 slidably abuts against the fixing post 206. When the inner ball head 102 and the outer ball 101 rotate relative to each other, the fixing post 206 slides along the abutment groove 1014. The length of the abutment groove 1014 can limit the sliding range of the fixing post 206, thereby limiting the relative rotation angle between the inner ball head 102 and the outer ball 101. This prevents excessive rotation from causing excessive meshing or disengagement between the gear component 205 and the tooth edge, resulting in tooth surface wear or structural damage. This protects the locking assembly and extends the service life of the overall locking mechanism. The fixing post 206 on the outer wall of the inner ball head 102 provides stable installation support for the gear component 205, allowing the gear component 205 to be fixed in the preset position of the inner ball head 102, improving the installation stability and meshing accuracy of the gear component 205. In addition, the setting of the fixing post 206 also facilitates the installation and disassembly of the gear component 205, reducing maintenance difficulty.

[0091] Example 3

[0092] This embodiment provides a medical device, including the universal joint ball joint locking mechanism of Embodiment 1 or Embodiment 2.

[0093] The medical device provided in this embodiment has the good rigid locking performance of the locking mechanism, which can solve the problems of unstable locking and wobbling of the front end caused by the reliance on friction locking in medical devices. It is beneficial to improve the position and angle stability of the medical device during operation, ensure the accuracy of operations such as surgery, reduce the operational risks caused by the instability of the execution end, and improve the safety and reliability of the medical device.

[0094] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A universal joint ball joint locking mechanism, characterized in that, The device includes a ball joint and a locking assembly. The ball joint includes an inner ball head (102) and an outer ball body (101) that are hinged to each other. The locking assembly includes a first engaging member disposed on the inner ball head (102), a second engaging member disposed on the outer ball body (101), and an unlocking drive member. The first engaging member and the second engaging member are configured to engage or disengage with each other; The locking assembly has a locked state and an unlocked state: In the locked state, the first engaging member and the second engaging member remain engaged under the action of elastic preload or in the locked moving position to rigidly lock the relative angle between the inner ball head (102) and the outer ball (101); In the unlocked state, the unlocking drive member receives an external operating force and drives the first engagement member and the second engagement member to overcome the elastic preload or the unlocking movement position and disengage, allowing the inner ball head (102) and the outer ball (101) to be universally adjustable; The unlocking drive component includes two pressing members (201) and two elastic members (202). The two pressing members (201) are movably disposed on the inner ball head (102). The inner ball head (102) is symmetrically provided with two mounting grooves (1024). One elastic member (202) is correspondingly disposed in each mounting groove (1024). The mounting groove (1024) provides space for the elastic member (202) to move. The two elastic members (202) are respectively connected between the two pressing members (201). The upper part is provided with multiple toothed grooves (2025), which constitute the first meshing member. The second meshing member is configured as a locking gear (203). There are two locking gears (203), which are spaced apart on the inner wall of the outer sphere (101). The outer sphere (101) is sleeved on the inner ball head (102), and the locking gear (203) is placed in the assembly groove (1024) so ​​as to mesh with the first meshing member through the elastic action of the elastic member (202). The pressing member (201) includes a pressing part (2011) and a force transmission part. The force transmission part is connected to the elastic member (202). The pressing part (2011) is adapted to receive external force and, through the force transmission part, disengages the tooth groove (2025) on the elastic member (202) from the first engaging member. The elastic element (202) includes a first elastic part (2021), a second elastic part (2022), and a third elastic part (2023) connected in sequence. The first elastic part (2021) and the third elastic part (2023) are respectively bent and disposed on the same side of the second elastic part (2022). The second elastic part (2022) is fixedly connected to the inner ball head (102). The first elastic part (2021) and the second elastic part (2022) are respectively provided with a plurality of tooth grooves (2025) along their extension direction. The locking gear (203) is disposed between the first elastic part (2021) and the third elastic part (2023). The force transmission part includes a first force transmission rod (2012) and a second force transmission rod (2013). The first force transmission rod (2012) is spaced apart on the outside of the inner ball head (102). The first force transmission rod (2012) is fixedly connected to the pressing part (2011). One end of the second force transmission rod (2013) is fixedly connected to the first force transmission rod (2012), and the other end is connected to the elastic element (202). There are two second force transmission rods (2013), which are symmetrically arranged on both sides of the first force transmission rod (2012). The two second force transmission rods (2013) are respectively connected to the first elastic part (2021) or the third elastic part (2023) of the two elastic elements (202).

2. The universal joint ball joint locking mechanism according to claim 1, characterized in that, The second force transmission rod (2013) includes a fixedly connected abutment rod (20131) and a clearance rod (20132). The abutment rod (20131) abuts against the first elastic part (2021) or the third elastic part (2023), and the clearance rod (20132) is spaced apart from the first elastic part (2021) or the third elastic part (2023); and / or The second force transmission rod (2013) has a connecting end (2014) at the end opposite to the first force transmission rod (2012). The first elastic part (2021) and the third elastic part (2023) have a fixed part (2024) bent on their outer walls. The fixed part (2024) has a connecting groove, and the connecting end (2014) is inserted into the connecting groove.

3. The universal joint ball joint locking mechanism according to claim 1, characterized in that, The first force transmission rod (2012) is configured as an arc-shaped rod. The inner ball head (102) includes an inner ball portion (1021) and a neck sleeve portion (1022). The neck sleeve portion (1022) is disposed on the side of the inner ball portion (1021) away from the outer ball (101). The first force transmission rod (2012) is spaced around the outside of the neck sleeve portion (1022); and / or The inner ball head (102) is provided with a connecting block (1026), and the second elastic part (2022) is fixedly connected to the connecting block (1026). The connecting block (1026) is disposed on the side of the second elastic part (2022) away from the first elastic part (2021).

4. The universal joint ball joint locking mechanism according to claim 1, characterized in that, The locking gear (203) includes an external gear ring (2031) and a limiting post (2032) arranged coaxially. The external gear ring (2031) meshes with the tooth groove (2025). The inner ball head (102) is provided with a limiting groove (1025). The limiting groove (1025) is connected to the assembly groove (1024). The limiting post (2032) slides against the limiting groove (1025).

5. The universal joint ball joint locking mechanism according to claim 1, characterized in that, The first meshing member is configured as a gear (205), and there are two gears (205), which are symmetrically fixed on the outer wall of the inner ball head (102). The unlocking drive component is configured as a toothed cover (204), and two toothed covers (204) are provided. The two toothed covers (204) are movably disposed on the outside of the outer sphere (101). The toothed cover (204) has a toothed edge on the side facing the gear (205), and the toothed edge constitutes the second meshing member. The toothed edge meshes with the gear (205) in a conformal manner.

6. The universal joint ball joint locking mechanism according to claim 5, characterized in that, The toothed cover (204) includes a first toothed edge (2041), a second toothed edge (2042), and a toothed cover body (2043). The first toothed edge (2041) and the second toothed edge (2042) are symmetrically fixed on the same side of the toothed cover body (2043). The first toothed edge (2041) and the second toothed edge (2042) are spaced apart and avoid the outer sphere (101). In the locked moving position, the first tooth edge (2041) and the second tooth edge (2042) of the two tooth cover parts (204) clamp together to lock the two gear parts (205).

7. The universal joint ball joint locking mechanism according to claim 6, characterized in that, The tooth cover body (2043) is configured as an arc-shaped component. The outer sphere (101) includes an outer spherical part (1011) and a neck (1012). The neck (1012) is located on the side of the outer spherical part (1011) away from the inner spherical head (102). The neck (1012) is provided with a positioning hole (1015). The middle section of the tooth cover body (2043) is provided with a guide hole (2044). The positioning hole (1015) and the guide hole (2044) are coaxially arranged. The positioning hole (1015) and the guide hole (2044) are adapted to install a guide shaft to guide the tooth cover (204) to switch between a locked moving position and an unlocked moving position. The tooth cover body (2043) is provided with two guide grooves (2045), which are located at both ends of the tooth cover body (2043). The outer spherical part (1011) has four positioning posts (1016) protruding from its outer wall. The four positioning posts (1016) extend parallel to each other and slide in correspondence with the four guide grooves (2045) on the two tooth cover parts (204) to guide the tooth cover parts (204) to switch between the locked moving position and the unlocked moving position.

8. The universal joint ball joint locking mechanism according to claim 7, characterized in that, A fixing post (206) is provided on the outer wall of the inner ball head (102), and the gear component (205) is fixed to the end of the fixing post (206) away from the inner ball head (102); an abutment groove (1014) is provided on the outer ball part (1011), and the fixing post (206) and the abutment groove (1014) are slidably abutted.

9. A medical device, characterized in that, The universal joint ball joint locking mechanism includes any one of claims 1-8.

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