Spherical pair locking mechanism and medical instrument

Abstract

The invention discloses a spherical pair locking mechanism and a medical instrument, and relates to the field of medical instruments. The ball pair locking mechanism comprises a ball joint and a locking assembly. The locking assembly comprises a transmission structure, an elastic piece, a locking gear and a force application driving piece. The rigid meshing locking mode of the locking gear and the meshing tooth edge of the inner ball head replaces traditional friction braking, locking force reduction and looseness caused by long-term use and abrasion can be avoided, the locking reliability is greatly improved, and the minimally invasive surgery positioning precision is guaranteed; a user can directly drive the transmission structure through the force application driving part to achieve switching between locking and unlocking of the ball joint, the mechanism is kept in a preset locking or unlocking state in a non-operation state by adjusting the locking gear and the meshing tooth edge and providing automatic reset force through the elastic part, manual intervention is reduced, and the rapid operation requirement of an operation scene is met. The mechanism is compact in structural layout, can adapt to the limited space of minimally invasive surgical instruments, and meets the requirements for locking strength and miniaturization.

Description

Technical Field

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

[0002] Minimally invasive surgical instruments typically perform delicate operations by manipulating distal actuators through a proximal control end. The universal joint is a key component enabling multi-degree-of-freedom movement. To ensure surgical stability, the joint angle often needs to be temporarily locked.

[0003] In related technologies, ball joint locking mechanisms often employ friction braking or mechanical pin methods, which suffer from problems such as unstable locking force, high wear, complex structure, or inconvenient unlocking operations. For example, some friction-type locking mechanisms are prone to loosening after long-term use, affecting positioning accuracy; while mechanical pin mechanisms often require significant operating force, and reset accuracy is difficult to guarantee. In minimally invasive surgical scenarios, instrument space is extremely limited, making it difficult for traditional mechanisms to achieve rapid and convenient unlocking and reset functions while ensuring locking strength and reliability. Summary of the Invention

[0004] In view of this, the present invention provides a ball joint locking mechanism and a medical device to solve the problems mentioned in the background art.

[0005] In a first aspect, the present invention provides a ball joint locking mechanism, comprising:

[0006] A ball joint includes an outer ball and an inner ball head that are hinged to each other, wherein the inner ball head is provided with two symmetrically arranged meshing toothed edges;

[0007] The locking assembly includes a transmission structure, an elastic element, a locking gear, and a force-applying drive element; the transmission structure is mounted on the outer sphere and is connected to the force-applying drive element; one end of the elastic element is connected to the outer sphere, and the other end is connected to the transmission structure or the force-applying drive element; the locking gear is disposed on the transmission side of the transmission structure, and the locking gear is correspondingly disposed with the meshing tooth edge.

[0008] The force-applying driving component is movably disposed on the outer sphere to receive external force and drive the locking gear to separate or engage with the meshing tooth edge through the transmission structure; the elastic component is adapted to provide elastic restoring force so that the locking gear remains engaged or disengaged with the meshing tooth edge in the non-operating state.

[0009] Beneficial Effects: This application specifically replaces traditional friction braking with a rigid meshing locking method using a locking gear and the meshing tooth edge of the inner ball joint. This avoids the decrease in locking force and loosening caused by long-term wear, significantly improving locking reliability and ensuring positioning accuracy in minimally invasive surgery. Users can directly drive the transmission structure through the force-applying drive component to switch between ball joint locking and unlocking. By adjusting the locking gear and meshing tooth edge, and utilizing the elastic element to provide automatic reset force, the mechanism maintains a preset locked or unlocked state in non-operational states, reducing manual intervention and adapting to the rapid operation requirements of surgical scenarios. The ball joint locking mechanism has a compact structural layout, which can be adapted to the limited space of minimally invasive surgical instruments, balancing locking strength and miniaturization requirements.

[0010] In some embodiments, the transmission structure includes a first lever and a second lever, the locking gear is coaxially slidably mounted on a guide, the guide extending in the same direction as the center of the inner ball, and the force-applying drive is slidably disposed with the outer ball; the first elastic end of the elastic member abuts against the outer ball, and the second elastic end abuts against the first and second levers, and the elastic member is adapted to provide an elastic force to engage the locking gear with the meshing tooth edge;

[0011] The locking gear is mounted on one end of the first lever and the second lever, and the other end of the first lever and the second lever is disposed on the sliding path of the force-applying drive member, so that the sliding force-applying drive member can drive the first lever and the second lever to move, thereby causing the locking gear to slide along the guiding direction of the guide member to disengage from the meshing tooth edge.

[0012] Beneficial effects: By aligning the extension direction of the guide member with the center of the inner ball head, the locking gear slides in the direction pointing towards the center of the ball, always precisely aligned with the meshing tooth edge, avoiding locking failure caused by misalignment and improving angle locking accuracy; by using the elastic member to directly act on the lever member, the locking gear is automatically pushed to mesh with the meshing tooth edge when not in operation, without the need for manual maintenance of the locking state, reducing the risk of mislocking during surgery; the sliding synchronous drive of the force-applying drive member drives the first and second lever members to rotate, thereby disengaging the locking gear, making operation convenient.

[0013] In some embodiments, any lever member includes an abutment portion, a pressing portion, and a connecting arm. The abutment portions of the first lever member and the second lever member are misaligned and spliced ​​on the sliding path of the force-applying drive member. The pressing portion is limited and abuts against the second elastic end. The locking gear is movably mounted on the connecting arm.

[0014] Beneficial effects: The abutment portion of the lever is misaligned and spliced ​​on the sliding path of the force-applying drive component, optimizing the compact structure and ensuring that the force-applying drive component can synchronously and evenly drive the two levers when sliding, avoiding transmission jamming caused by unilateral force and ensuring the synchronous action of the two locking gears. The pressing portion abuts against the second elastic end of the elastic component, preventing the elastic component from shifting under force and ensuring that the elastic force is completely converted into the driving force of the lever, resulting in precise transmission of elastic force and maintaining stable locking force. The connecting arm and locking gear are movably installed, allowing the locking gear to move along the guide component towards the desired meshing tooth edge, improving the assemblability and motion accuracy of the structure.

[0015] In some embodiments, the locking gear includes an external gear ring, a limiting post, a baffle, and a insertion hole. The external gear ring conformally meshes with the meshing tooth edge. The limiting post is disposed on the lateral end face of the external gear ring facing the center of the inner ball head. The inner ball head is provided with a limiting groove. The limiting post slides against the limiting groove. The baffle is spaced apart on the side of the external gear ring away from the limiting post. The connecting arm is movably disposed between the baffle and the external gear ring. The insertion hole is disposed through the external gear ring, the limiting post, and the baffle. The guide member is disposed through the insertion hole.

[0016] Beneficial effects: The conformal engagement of the external gear ring and the meshing tooth edge ensures a reliable contact area and improves locking force; the sliding contact between the limiting post and the inner ball head limiting groove restricts the relative offset between the locking gear and the meshing tooth edge, preventing disengagement and enhancing locking stability; the space formed between the baffle and the external gear ring accommodates the connecting arm, preventing it from falling off when the lever end drives the locking gear, while the connecting arm can also relatively limit the sliding stroke of the locking gear, improving motion accuracy; the insertion hole penetrates the locking gear, allowing the locking gear to slide along the desired path after the guide is inserted, avoiding offset that affects meshing accuracy, and adapting to the needs of high-frequency locking and unlocking operations.

[0017] In some embodiments, the outer sphere includes an outer spherical cap and a capping ring fixedly connected together, with an assembly cavity provided between the outer spherical cap and the capping ring, and the transmission structure and the elastic element housed within the assembly cavity; the locking gear is adapted to slide in and out of the assembly cavity.

[0018] Beneficial effects: The assembly cavity formed by the outer ball cap and the cap ring accommodates the transmission structure and elastic components, allowing the components to be centrally arranged, reducing external space occupation, and adapting to the compact design requirements of minimally invasive surgical instruments; at the same time, the locking gear can slide in and out of the assembly cavity, ensuring smooth locking and unlocking action paths, avoiding motion interference, and ensuring precise operation response.

[0019] In some embodiments, the elastic element is configured as a torsion spring, and the assembly cavity is provided with a torsion spring groove, wherein the first elastic end is limited and abuts against the inner wall surface of the torsion spring groove;

[0020] The outer sphere is provided with a sliding groove, which is connected to the assembly cavity, and the force-applying driving component is slidably mounted on the sliding groove.

[0021] Beneficial effects: The first elastic end of the torsion spring abuts against the inner wall of the torsion spring groove to prevent displacement of the torsion spring when it is under force, ensuring that the elastic restoring force acts stably on the lever and maintaining the consistency of the locking state; the slide is connected to the assembly cavity, and the slide limits the sliding trajectory of the force-applying drive component, avoiding transmission failure caused by the offset of the force-applying drive component during operation, and improving the reliability of operation.

[0022] In some embodiments, the transmission structure includes a first lever and two second levers; the first lever includes a first arm, a first pivot hole, and two second arms; each second lever includes a third arm, a second pivot hole, and a fourth arm, and the locking gear is mounted on the fourth arm; the force-applying drive is rotatably disposed with the outer ball, the force-applying drive is detachably connected to the first arm of the first lever, and the two second arms respectively abut against the third arms of the two second levers;

[0023] The first elastic end of the elastic element elastically abuts against the outer sphere, and the second elastic end elastically abuts against the second lever element; the elastic element is adapted to elastically act on the fourth arm of the second lever element to keep the locking gear and the meshing tooth edge engaged, so that the outer sphere and the inner ball head are in a locked state; under the action of external force, the force-applying driving member drives the first arm to rotate around the axis of the first rotating shaft hole, acts on the second arm to abut against the third arm, so that the third arm rotates around the axis of the second rotating shaft hole, and acts on the fourth arm to drive the locking gear to rotate outward to move away from the meshing tooth edge, so that the outer sphere and the inner ball head are in an unlocked state.

[0024] Beneficial effects: By linking two second levers with a first lever, the two locking gears are ensured to engage or disengage synchronously with the two meshing teeth on the inner ball head, avoiding angular deviation caused by unilateral locking and improving locking accuracy; the elastic element directly acts elastically on the second lever, and in non-operational situations, the second lever always pushes the locking gear to maintain engagement, preventing accidental unlocking due to external forces such as vibration during surgery and ensuring surgical stability.

[0025] In some embodiments, the distance from the contact portion of the force-applying drive member with the first arm to the first pivot hole is greater than the distance from the contact portion of the second arm and the third arm to the first pivot hole, thereby forming a force-saving lever structure.

[0026] Beneficial effects: The distance from the contact point between the force-applying drive component and the first arm to the first pivot hole is greater than the distance from the contact point between the second and third arms to the first pivot hole, forming a force-saving lever, reducing the unlocking operation force and improving operation comfort.

[0027] In some embodiments, the first arm is provided with a plug-in protrusion, and the force-applying drive member is detachably connected to the plug-in protrusion.

[0028] Beneficial effects: The force-applying drive component and the first arm are detachably connected via a plug-in protrusion, making assembly convenient. The plug-in protrusion specifically serves as the connection and force transmission part.

[0029] In some embodiments, the second arm has a contact ball on its wall facing the third arm, and the contact ball is slidably disposed with the third arm.

[0030] Beneficial effects: The contact ball slides into contact with the third arm, forming a point contact friction, which reduces transmission resistance and component wear, helps extend the service life of the mechanism, and ensures smooth operation over a long period of time.

[0031] In some embodiments, the third and fourth arms are arranged intersectingly, with one end of the third arm fixedly connected to the middle section of the fourth arm. The third arm is configured as an arc-shaped rod, and the third arms of the two second lever members are wrapped around the inner ball head. The locking gear is installed at one end of the fourth arm, and the second shaft hole is located at the other end of the fourth arm. The fourth arm is provided with a mounting groove, which is spaced between the third arm and the second shaft hole. The second elastic end of the elastic member is limited and abuts against the inner wall of the mounting groove. The fourth arm is provided with a guide groove, which is opposite to the mounting groove and slides with the outer ball.

[0032] Beneficial effects: The third arm is designed as an arc-shaped rod that encircles the inner ball head, making full use of the space around the inner ball head, avoiding interference between the lever and other components, and adapting to a compact structural design; the guide groove slides with the outer ball, which can limit the rotation trajectory of the second lever, improving transmission stability and accuracy. By limiting the second elastic end of the elastic element through the mounting groove, it is ensured that the elastic force acts on the second lever in a preset direction, avoiding insufficient locking force caused by the elastic element's offset, and maintaining a stable locking state.

[0033] In some embodiments, the outer sphere is provided with a first connecting groove and a second connecting groove, the first lever is movably configured with the first connecting groove, and the second lever is movably configured with the second connecting groove.

[0034] Beneficial effects: The first connecting groove and the second connecting groove position the first lever and the second lever respectively, optimize the movement path of the first lever and the second lever, and improve the movement accuracy; it also helps to achieve compact assembly.

[0035] In some embodiments, the transmission structure includes a second lever, which includes a third arm, a second pivot hole, and a fourth arm. The second lever is rotatably connected to the outer sphere through the second pivot hole. Two second levers and two locking gears are provided. The two locking gears are respectively mounted on the fourth arms of the two second levers. The force-applying drive member is slidably disposed with respect to the outer sphere.

[0036] The first elastic end of the elastic element is in contact with the outer sphere for limiting, and the second elastic end of the elastic element is in elastic contact with the third support arm. The third support arm is disposed on the sliding path of the force-applying drive member. The elastic element is adapted to elastically act on the third support arm, so that the fourth support arm acts on the locking gear and the meshing tooth edge to keep them engaged, so that the outer sphere and the inner ball head are in a locked state. Under the action of external force, the force-applying drive member slides and drives the third support arm to rotate around the axis of the second rotating shaft hole, and acts on the fourth support arm to drive the locking gear to rotate outward to move away from the meshing tooth edge, so that the outer sphere and the inner ball head are in an unlocked state.

[0037] Beneficial effects: The transmission is achieved through two second levers, simplifying the overall structure, reducing transmission losses between components, and improving the operation response speed; the two second levers are symmetrically arranged, and when the force-driven component slides, they simultaneously drive the two locking gears to expand outward, avoiding the tilting of the inner ball head caused by unilateral unlocking and ensuring a smooth unlocking process; the elastic component directly acts elastically on the third arm, and in non-operational situations, it keeps the locking gear and the meshing tooth edge engaged without manual intervention, reducing the risk of misoperation during surgery and ensuring surgical stability.

[0038] In some embodiments, the outer sphere is provided with a compression spring groove, the elastic element is configured as a compression spring element, and the first elastic end of the elastic element elastically abuts against the inner wall of the compression spring groove;

[0039] The outer sphere is provided with a second connecting groove, which is connected to the compression spring groove, and the second lever is movably connected to the second connecting groove.

[0040] Beneficial effects: The compression spring groove limits the first elastic end of the elastic element, preventing the elastic element from shifting or falling off when subjected to force, ensuring that the elastic force acts stably on the third arm, maintaining the consistency of the locking force, and avoiding locking failure; the second connecting groove is connected to the compression spring groove, so that the rotation path of the second lever element matches the direction of the force of the elastic element, reducing motion interference, ensuring smooth operation of the second lever element, and improving the unlocking and locking response speed.

[0041] In some embodiments, the transmission structure includes a first lever, a second lever, and a guide rod; one end of the first lever and the second lever are rotatably connected to the guide rod; two locking gears are provided, each hinged to the end of the first lever and the second lever away from the guide rod; the guide rod is slidably engaged with the outer sphere; the first lever and the second lever are arc-shaped rods, their surfaces away from the inner sphere slidingly abutting against the inner wall of the outer sphere; the two locking gears are symmetrically arranged outside the inner sphere, and the axial direction of the locking gears coincides with the center of the inner sphere; the force-applying drive member is slidably engaged with the outer sphere;

[0042] The elastic element is sleeved on the force-applying drive member and is adapted to elastically act such that one end of the first lever and the second lever connected to the guide rod moves away from the inner ball head, so that the end of the first lever and the second lever away from the guide rod moves closer to the inner ball head, thereby keeping the locking gear engaged with the meshing tooth edge, and keeping the outer ball and the inner ball head in a locked state; under the action of external force, the force-applying drive member drives one end of the first lever and the second lever connected to the guide rod to move closer to the inner ball head, so that the end of the first lever and the second lever away from the guide rod moves away from the inner ball head, thereby disengaging the locking gear from the meshing tooth edge, and keeping the outer ball and the inner ball head in an unlocked state.

[0043] Beneficial effects: The two locking gears are symmetrically arranged, and the first and second levers are arc-shaped rods that slide against the inner wall of the outer ball, ensuring that the inner ball head is subjected to uniform force during locking, avoiding angular deviation caused by unilateral force, and improving locking accuracy; the force-applying drive component can slide to link the first and second levers to move synchronously, and drive the guide rod to slide and guide the outer ball, realizing quick unlocking or locking without complicated operation steps, and adapting to the high-frequency angle adjustment needs during surgery.

[0044] In some embodiments, the outer sphere is provided with a groove, and the force-applying driving member is slidably disposed with the groove;

[0045] The force-applying driving component includes a force-applying end, a guide rod, and a stop circular plate. The force-applying end and the stop circular plate are spaced apart. The guide rod is connected between the force-applying end and the stop circular plate. The elastic element is sleeved on the guide rod. The force-applying end is located outside the outer sphere, the guide rod is located inside the groove, and the stop circular plate is located inside the outer sphere.

[0046] The elastic element is configured as a tension spring, with one end connected to the inner wall of the outer sphere and the other end connected to the stop plate; or, the elastic element is configured as a compression spring, with one end connected to the outer wall of the outer sphere and the other end elastically abutting against the force-applying end of the force-applying drive element.

[0047] Beneficial effects: The force-applying end is located outside the outer sphere, and the guide rod and stop plate limit the sliding range of the force-applying drive component, avoiding damage to components caused by excessive force; the external layout of the force-applying end facilitates operation by doctors; for the elastic component, a tension spring can be selected, which acts between the inner wall of the outer sphere and the stop plate, or a compression spring can be selected, which acts between the outer wall of the outer sphere and the force-applying end. The flexible configuration according to the internal space of the mechanism and the locking force requirements is conducive to enhancing the adaptability of the structure.

[0048] In some embodiments, the locking gear includes an external gear ring, a limiting post, and a sliding post, with the limiting post and the sliding post disposed opposite to each other on both sides of the external gear ring; a limiting groove is provided on the inner ball head, and the limiting post slides against the limiting groove; a sliding hole is provided on the outer sphere, and the sliding post and the sliding hole are slidably disposed; a sliding part is provided inside the outer sphere, and the sliding post and the sliding part are slidably disposed.

[0049] Beneficial effects: The limiting post slides against the inner ball head limiting groove, and the sliding post slides against the sliding hole and sliding part of the outer ball, which together limit the movement range of the locking gear from the inside and outside, enhances the positioning effect, and ensures the vertical movement accuracy; it avoids the locking gear from shifting and disengaging when it meshes with the meshing tooth edge, thus improving the locking reliability.

[0050] In some embodiments, the abutting portions of the first lever and the second lever are misaligned and spliced ​​on the sliding path of the force-applying drive member; the first lever and the second lever are provided with guide rod holes near the guide rod, and the guide rod is disposed through the guide rod holes.

[0051] Beneficial effects: The abutting parts of the first and second levers are misaligned and spliced ​​on the sliding path of the force-applying drive component, which strengthens the compact structure. Synchronous linkage is achieved by the guide rod passing through the guide rod hole, ensuring that the two levers move in unison and drive the locking gear to engage and disengage synchronously, avoiding failures caused by unilateral movement.

[0052] In some embodiments, the first lever and the second lever are provided with hinge holes at one end away from the guide rod, and either lever is hinged to the locking teeth through the hinge holes.

[0053] Beneficial effects: The hinge hole and locking gear are hinged together, simplifying the connection structure and facilitating later maintenance and replacement.

[0054] In some embodiments, the transmission structure is configured as a transmission rod, one end of which is fixedly connected to the force-applying driving member, and the other end of which is fixedly connected to the locking gear; the force-applying driving member is disposed outside the outer sphere, and the locking gear is disposed inside the outer sphere, with the transmission rod and the outer sphere slidably configured; a constraint rod is fixedly disposed inside the outer sphere, and the constraint rod is slidably engaged with a constraint groove disposed on the transmission rod to constrain the sliding displacement path of the transmission rod; two force-applying driving members are provided, symmetrically disposed outside the inner ball head, the transmission rod and the locking gear are coaxially configured, and the extension direction of the transmission rod coincides with the center of the inner ball head;

[0055] The elastic element is sleeved on the transmission rod and elastically disposed between the force-applying driving member and the outer wall surface of the outer sphere; the elastic element is configured as a compression spring, and the elastic element is adapted to elastically act to separate and engage the locking gear and the meshing tooth edge, so that the outer sphere and the inner ball head are in an unlocked state; under the action of external force, the force-applying driving member drives the transmission rod and the locking gear to slide, so as to engage the locking gear and the meshing tooth edge, so that the outer sphere and the inner ball head are in a locked state.

[0056] Beneficial effects: The elastic element acts between the force-applying drive element and the outer wall of the outer ball. In non-operational situations, it automatically pushes the locking gear to separate from the meshing teeth, maintaining the unlocked state. This allows the inner ball head to rotate freely and adjust its angle, meeting the frequent angle adjustment needs during surgery. The transmission rod and the locking gear are coaxial, and their extension direction coincides with the center of the inner ball head. This ensures that when the force-applying drive element drives the transmission rod to slide, the locking gear precisely meshes in the direction pointing towards the center of the ball, avoiding locking failure caused by misalignment. The constraint rod slides with the constraint groove on the transmission rod, limiting the sliding path of the transmission rod and preventing misalignment of the locking gear caused by transmission rod deviation. This ensures precise and controllable locking and unlocking actions, making it suitable for high-precision surgical needs.

[0057] In some embodiments, the transmission structure includes two third levers, each third lever including a fifth arm, a third pivot hole and a sixth arm; two locking gears are provided, the two locking gears are respectively mounted on the sixth arms of the two third levers; the force-applying drive is rotatably mounted on the outer sphere, and the fifth arm has an outer wall profile extending toward the force-applying drive;

[0058] One end of the elastic element elastically abuts against the fifth arm of the third lever element, and the other end is fixed to the outer sphere; the elastic element is adapted to elastically engage the locking gear with the meshing tooth edge, so that the outer sphere and the inner ball head are in a locked state; under the action of external force, the force-applying driving member rotates to contact the outer wall contour surface of the fifth arm, so that the fifth arm rotates around the third rotating shaft hole, thereby acting on the sixth arm to drive the locking gear to separate from the meshing tooth edge, so that the outer sphere and the inner ball head are in an unlocked state.

[0059] Beneficial effects: The two third lever components are symmetrically arranged. When the force-applying drive component is rotated, the force-applying drive component rotates synchronously and contacts the outer wall contour surface of the fifth arm in the third lever component, so as to drive the two locking gears and the two meshing tooth edges to separate synchronously, avoiding the tilting of the inner ball head caused by unilateral locking and improving locking stability; the elastic component acts on the fifth arm. In non-operational situations, it automatically pushes the locking gears and meshing tooth edges to engage, preventing accidental unlocking during surgery. At the same time, the elastic force can buffer external vibrations and ensure the stability of the locking state.

[0060] In some embodiments, the force-applying drive includes a rotating seat and a force-transmitting ball. The rotating seat and the outer sphere are rotatably disposed, and the force-transmitting ball is fixedly disposed on the side of the rotating seat facing the third lever. A positioning ring is provided on the outer sphere. The rotating seat and the positioning ring are coaxially rotatably disposed. One end of the elastic element is connected to the positioning ring, and the other end is connected to the rotating seat.

[0061] Beneficial effects: The point contact design between the force transmission ball and the outer contour surface of the third lever reduces frictional resistance and ensures smooth transmission when the force-applying drive component rotates, preventing jamming. The coaxial rotational engagement between the positioning ring and the rotating seat limits the rotation trajectory of the force-applying drive component, preventing transmission failure caused by misalignment.

[0062] In some embodiments, the outer sphere is provided with two third connecting grooves, and the two third levers are respectively movably installed in the third connecting grooves through third pivot holes.

[0063] Beneficial effects: The two third connecting grooves position the two third lever components, ensuring the stability of the lever component rotation path and improving locking accuracy.

[0064] In some embodiments, the meshing tooth edge is recessed on the outer wall surface of the inner ball head, and the outer gear ring of one of the locking gears is correspondingly connected with two meshing tooth edges, which are arranged facing each other at intervals.

[0065] Beneficial effects: By aligning one locking gear with two opposing, spaced meshing tooth edges, the contact area between the locking gear and the inner ball head is increased, enhancing locking force and preventing rotation of the inner ball head due to external forces during surgery, thus ensuring locking accuracy and effectiveness. The meshing tooth edges are recessed on the outer wall of the inner ball head, forming an embedded mesh with the outer gear ring of the locking gear, reducing relative sliding of the meshing surfaces, lowering wear, and preventing accidental disengagement of the locking gear, thereby improving long-term reliability. Furthermore, the recessed design of the meshing tooth edges does not require additional external space, allowing for a compact design that fits the inner ball head, ensuring integration between the locking assembly and the inner ball head, and preventing interference with other components.

[0066] Secondly, the present invention also provides a medical device, including a handle, a rotating cover, and the aforementioned ball joint locking mechanism, wherein the ball joint locking mechanism includes an outer ball and an inner ball head that are hinged to each other, the rotating cover is rotatably disposed on the outside of the outer ball, and the handle is integrally formed with the outer ball.

[0067] Beneficial effects: The ball-and-socket locking mechanism integrates the outer ball and rotating cover with the inner ball head inside the handle, allowing for seamless locking and gripping. This enables surgeons to quickly control locking and unlocking while holding the handle, eliminating the need for additional components and improving surgical efficiency. The rotating cover, located on the outer side of the outer ball, protects the locking mechanism and secures the handle and outer ball as a single unit, improving the stability of force transmission during angle adjustments and preventing loosening of other connections that could affect operational accuracy. This integrated design of the mechanism, handle, and rotating cover caters to the handheld operation needs of minimally invasive surgical instruments, balancing ease of use with a compact structure, and can be widely applied to various minimally invasive surgical instruments.

[0068] In some embodiments, the medical device further includes an insertion rod, a control device, and an actuator. One end of the insertion rod is fixedly connected to the control device, and the insertion rod, control device, and inner ball head are coaxially arranged. The other end is fixedly connected to the actuator. The insertion rod is inserted into the rotating cover and fixedly disposed therewith. The control device passes through the outer ball and the inner ball head. Under the action of external force, the rotating cover is adapted to drive the insertion rod to rotate, thereby linking the control device and the actuator to rotate.

[0069] Beneficial effects: The fixed installation of the insertion rod and rotating cover ensures the rigidity and precision of power transmission. The rotating cover, as the user's operating component, utilizes its rotational movement to transmit power to the proximal control instrument and the distal actuator via the insertion rod. The control instrument is inserted into the outer sphere and inner ball head of the ball joint, achieving coaxial nesting of functions and fully utilizing the limited space within the ball joint. The user adjusts the rotation angle of the ball joint, specifically through the handle, to adjust the movement posture of the control instrument within the ball joint. The control instrument can then coordinate with the corresponding movement of the actuator to match operational needs. Locking the rotation angle of the ball joint via the locking assembly locks the movement posture of the control instrument, thereby locking the movement posture of the distal actuator. In this design, the adjustment and locking action of the distal actuator is decoupled from its rotational action, optimizing the operational logic. The two processes can be controlled independently. This design helps improve the flexibility and operability of surgical procedures. Attached Figure Description

[0070] 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.

[0071] Figure 1 This is a schematic diagram of the ball locking mechanism according to Embodiment 1 of the present invention;

[0072] Figure 2 This is an exploded view of the ball-mounted locking mechanism of Embodiment 1 of the present invention;

[0073] Figure 3 This is a transmission schematic diagram of the ball joint locking mechanism in Embodiment 1 of the present invention;

[0074] Figure 4 This is a schematic diagram of the outer ball cover in the ball locking mechanism of Embodiment 1 of the present invention;

[0075] Figure 5 This is a schematic diagram of the cover ring in the ball-joint locking mechanism of Embodiment 1 of the present invention;

[0076] Figure 6 This is a schematic diagram of the connection of the first lever member in the ball joint locking mechanism of Embodiment 1 of the present invention;

[0077] Figure 7 This is a schematic diagram of the locking gear in the ball joint locking mechanism of Embodiment 1 of the present invention;

[0078] Figure 8 This is a schematic diagram of the ball locking mechanism according to Embodiment 2 of the present invention;

[0079] Figure 9 This is a partial schematic diagram of the ball locking mechanism according to Embodiment 2 of the present invention;

[0080] Figure 10 This is a schematic diagram of the transmission structure in the ball joint locking mechanism of Embodiment 2 of the present invention;

[0081] Figure 11 This is a schematic diagram of the transmission between the first lever and the second lever in the ball joint locking mechanism of Embodiment 2 of the present invention;

[0082] Figure 12 This is a schematic diagram of the inner ball head in the ball locking mechanism of Embodiment 2 of the present invention;

[0083] Figure 13 This is a three-dimensional schematic diagram of the outer sphere in the ball-pair locking mechanism of Embodiment 2 of the present invention;

[0084] Figure 14 This is a schematic diagram of the outer sphere in the ball-pair locking mechanism of Embodiment 2 of the present invention;

[0085] Figure 15 This is a schematic diagram of the ball locking mechanism of Embodiment 3 of the present invention;

[0086] Figure 16 This is a schematic diagram of the second lever component in the ball joint locking mechanism of Embodiment 3 of the present invention;

[0087] Figure 17 This is a schematic diagram of the outer ball in the ball-pair locking mechanism of Embodiment 3 of the present invention;

[0088] Figure 18 This is a side view of the outer ball in the ball locking mechanism of Embodiment 3 of the present invention;

[0089] Figure 19 This is a schematic diagram of the ball locking mechanism of Embodiment 4 of the present invention;

[0090] Figure 20 This is a partial schematic diagram of the ball locking mechanism of Embodiment 4 of the present invention;

[0091] Figure 21 This is a schematic diagram of the ball locking mechanism of Embodiment 5 of the present invention;

[0092] Figure 22 This is a partial schematic diagram of the ball locking mechanism of Embodiment 5 of the present invention;

[0093] Figure 23 This is a schematic diagram of the ball locking mechanism of Embodiment 6 of the present invention;

[0094] Figure 24 This is a schematic diagram of the transmission of the third lever in the ball joint locking mechanism of Embodiment 6 of the present invention;

[0095] Figure 25 This is a schematic diagram of the assembly of the third lever component in the ball joint locking mechanism of Embodiment 6 of the present invention;

[0096] Figure 26 This is a schematic diagram of the outer ball in the ball-pair locking mechanism of Embodiment 6 of the present invention;

[0097] Figure 27 This is a schematic diagram of the medical device according to Embodiment 7 of the present invention;

[0098] Figure 28 This is a partial schematic diagram of the medical device according to Embodiment 7 of the present invention;

[0099] Explanation of reference numerals in the attached figures:

[0100] 101. Outer sphere; 1011. Outer ball cap; 1012. Cap ring; 1013. Sliding groove; 1014. Torsion spring groove; 1015. First connecting groove; 1016. Second connecting groove; 1017. Compression spring groove; 1018. Sliding hole; 1019. Sliding part; 10110. Third connecting groove; 10111. Positioning ring; 102. Inner ball head; 1021. Meshing tooth edge; 1022. Limiting groove;

[0101] 201. Transmission structure; 2011. First lever; 20111. Abutting part; 20112. Pressing part; 20113. Connecting arm; 20114. First support arm; 20115. First pivot hole; 20116. Second support arm; 20117. Insertion protrusion; 20118. Contact ball; 20119. Guide rod hole; 201110. Hinge hole; 2012. Second lever; 20121. Third support arm; 20122. Second pivot hole; 20123. Fourth support arm; 20124. Mounting groove; 20125. Guide groove; 2013. Constraint groove; 2014. Third lever; 20141. Fifth support arm; 20142. Third pivot hole; 20143. Sixth support arm;

[0102] 202. Elastic element; 2021. First elastic end; 2022. Second elastic end; 203. Guide element; 204. Locking gear; 2041. External gear ring; 2042. Limiting post; 2043. Baffle; 2044. Insertion hole; 2045. Sliding post; 205. Force-applying driving element; 2051. Force-applying end; 2052. Force guide rod; 2053. Stop plate; 2054. Rotating seat; 2055. Force transmission ball;

[0103] 301. Handle; 302. Rotating cover; 303. Insertion rod; 304. Actuator; 305. Protective sleeve. Detailed Implementation

[0104] 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.

[0105] The following is combined Figures 1 to 28 The following describes embodiments of the present invention.

[0106] Example 1

[0107] According to an embodiment of the present invention, a ball joint locking mechanism is provided, such as... Figure 1 and Figure 2 As shown, the device includes a ball joint and a locking assembly. The ball joint includes an outer ball 101 and an inner ball head 102 that are hinged to each other. The inner ball head 102 is fitted inside the outer ball 101 and has two symmetrically arranged meshing toothed edges 1021. The locking assembly includes a transmission structure 201, an elastic element 202, a locking gear 204, and a force-applying drive element 205. The transmission structure 201 is mounted on the outer ball 101 and is connected to the force-applying drive element 205. One end of the elastic element 202 is connected to the outer ball 101, and the other end is connected to the transmission structure 201 or the force-applying drive element 205. The locking gear 204 is located on the transmission side of the transmission structure 201 and is correspondingly arranged with the meshing toothed edges 1021.

[0108] In this embodiment, the force-applying drive component 205 is movably mounted on the outer sphere 101 to receive external forces and drives the locking gear 204 to separate or engage with the meshing tooth edge 1021 via the transmission structure 201. The elastic component 202 is adapted to provide elastic restoring force, so that the locking gear 204 remains engaged or disengaged with the meshing tooth edge 1021 in the non-operating state. Specifically, this embodiment replaces the traditional friction braking method with a rigid engagement locking method between the locking gear 204 and the meshing tooth edge 1021 of the inner ball head 102. This avoids the decrease in locking force and loosening caused by long-term wear, greatly improves locking reliability, and ensures the positioning accuracy of minimally invasive surgery. Users can directly drive the transmission structure 201 through the force-applying drive component 205 to switch between ball joint locking and unlocking. By adjusting the locking gear 204 and the meshing tooth edge 1021 and utilizing the elastic component 202 to provide automatic restoring force, the mechanism maintains a preset locking or unlocking state in the non-operating state, reducing manual intervention and adapting to the rapid operation requirements of surgical scenarios. The ball-type locking mechanism has a compact structure that can fit within the limited space of minimally invasive surgical instruments, balancing locking strength with miniaturization requirements.

[0109] In an exemplary embodiment, such as Figure 3As shown, the transmission structure 201 includes a first lever 2011 and a second lever 2012. A locking gear 204 is coaxially slidably mounted on a guide 203. The guide 203 extends in a direction coinciding with the center of the inner ball head 102. A force-applying drive 205 is slidably mounted on the outer ball 101. By aligning the extending direction of the guide 203 with the center of the inner ball head 102, the locking gear 204 slides in a direction pointing towards the center of the ball, always precisely aligned with the meshing tooth edge 1021, avoiding locking failure due to misalignment and improving angle locking accuracy.

[0110] The first elastic end 2021 of the elastic member 202 abuts against the outer sphere 101, and the second elastic end 2022 abuts against the first lever member 2011 and the second lever member 2012. The elastic member 202 is adapted to provide an elastic force to engage the locking gear 204 with the meshing tooth edge 1021. The locking gear 204 is mounted on one end of the first lever member 2011 and the second lever member 2012, and the other end of the first lever member 2011 and the second lever member 2012 is disposed on the sliding path of the force-applying drive member 205, so that the sliding force-applying drive member 205 can drive the first lever member 2011 and the second lever member 2012 to move, thereby driving the locking gear 204 to slide along the guiding direction of the guide member 203 to disengage from the meshing tooth edge 1021.

[0111] In this embodiment, the elastic element 202 acts directly on the lever element. In non-operational situations, it automatically pushes the locking gear 204 to engage with the meshing tooth edge 1021 without the need for manual maintenance of the locking state, thus reducing the risk of mis-locking during surgery. The sliding synchronous drive of the force-applying drive element 205 drives the first lever element 2011 and the second lever element 2012 to rotate, thereby causing the locking gear 204 to disengage, which is convenient to operate.

[0112] In specific embodiments, such as Figures 3 to 5 As shown, the outer sphere 101 includes an outer spherical cover 1011 and a cover ring 1012 fixedly connected to each other. An assembly cavity is provided between the outer spherical cover 1011 and the cover ring 1012. The transmission structure 201 and the elastic element 202 are housed in the assembly cavity. The locking gear 204 is adapted to slide in and out of the assembly cavity. The assembly cavity formed by the outer spherical cover 1011 and the cover ring 1012 houses the transmission structure 201 and the elastic element 202, allowing the components to be arranged in a concentrated manner, reducing the external space occupied, and adapting to the compact design requirements of minimally invasive surgical instruments. At the same time, the locking gear 204 can slide in and out of the assembly cavity, ensuring smooth locking and unlocking action paths, avoiding motion interference, and ensuring precise operation response.

[0113] Specifically, the outer ball cap 1011 and the cap ring 1012 are fixedly connected, for example by fastening screws, and an assembly cavity is formed between them.

[0114] In specific embodiments, such as Figure 4As shown, the elastic element 202 is a torsion spring, and a torsion spring groove 1014 is provided in the assembly cavity. The first elastic end 2021 is limited and abuts against the inner wall surface of the torsion spring groove 1014. A sliding groove 1013 is provided on the outer sphere 101, and the sliding groove 1013 is connected to the assembly cavity. The force-applying drive element 205 is slidably mounted on the sliding groove 1013. The first elastic end 2021 of the torsion spring is limited and abuts against the inner wall of the torsion spring groove 1014 to prevent displacement when the torsion spring is subjected to force, ensuring that the elastic restoring force acts stably on the lever element and maintaining the consistency of the locking state. The sliding groove 1013 is connected to the assembly cavity and limits the sliding trajectory of the force-applying drive element 205, avoiding transmission failure caused by the offset of the force-applying drive element 205 during operation and improving the reliability of operation.

[0115] In specific structural embodiments, such as Figure 6 As shown, any lever component includes an abutment portion 20111, a pressing portion 20112, and a connecting arm 20113. The abutment portions 20111 of the first lever component 2011 and the second lever component 2012 are offset and spliced ​​on the sliding path of the force-applying drive component 205. The pressing portion 20112 is limited and abutted against the second elastic end 2022. The locking gear 204 is movably mounted on the connecting arm 20113. By offsetting the abutment portions 20111 of the lever components on the sliding path of the force-applying drive component 205, the structure is optimized for compactness, and the force-applying drive component 205 can synchronously and evenly drive the two lever components when sliding, avoiding transmission jamming caused by unilateral force and ensuring the synchronous operation of the two locking gears 204. The crimping part 20112 is in a limiting contact with the second elastic end 2022 of the elastic element 202, which can prevent the elastic element 202 from shifting under force, ensure that the elastic force is completely converted into the driving force of the lever, the elastic force is accurately transmitted, and the locking force is stable.

[0116] This design allows the connecting arm 20113 and the locking gear 204 to be movably mounted, enabling the locking gear 204 to move along the guide 203 toward the desired meshing tooth edge 1021, thus improving the assemblability and motion accuracy of the structure.

[0117] In specific embodiments, such as Figure 6 and Figure 7As shown, the locking gear 204 includes an outer gear ring 2041, a limiting post 2042, a baffle 2043, and a insertion hole 2044. The outer gear ring 2041 meshes with the meshing tooth edge 1021. The limiting post 2042 is located on the lateral end face of the outer gear ring 2041 facing the center of the inner ball head 102. The inner ball head 102 is provided with a limiting groove 1022. The limiting post 2042 slides against the limiting groove 1022. The baffle 2043 is spaced apart on the side of the outer gear ring 2041 away from the limiting post 2042. The connecting arm 20113 is movably located between the baffle 2043 and the outer gear ring 2041. The insertion hole 2044 is provided through the outer gear ring 2041, the limiting post 2042, and the baffle 2043. The guide member 203 is provided through the insertion hole 2044. The outer gear ring 2041 is conformally engaged with the meshing tooth edge 1021 to ensure a reliable contact area and improve locking force. The limiting post 2042 slides against the limiting groove 1022 of the inner ball head 102 to limit the relative offset between the locking gear 204 and the meshing tooth edge 1021, preventing disengagement and enhancing locking stability. The baffle 2043 and the outer gear ring 2041 form a space to accommodate the connecting arm 20113, preventing it from falling off when the lever end drives the locking gear 204 to move. At the same time, the connecting arm 20113 can also relatively limit the sliding stroke of the locking gear 204, improving movement accuracy. The insertion hole 2044 passes through the locking gear 204 so that after the guide 203 is inserted, the locking gear 204 slides along the desired path, avoiding offset that affects meshing accuracy, and can adapt to the needs of high-frequency locking and unlocking operations.

[0118] In specific embodiments, such as Figure 2 As shown, the meshing tooth edge 1021 is recessed on the outer wall surface of the inner ball head 102. Two meshing tooth edges 1021 are correspondingly and conformally connected to the outer gear ring 2041 of a locking gear 204, with the two meshing tooth edges 1021 arranged facing each other at intervals. By aligning one locking gear 204 with two facing, spaced-apart meshing tooth edges 1021, the contact area between the locking gear 204 and the inner ball head 102 is increased, enhancing the locking force and preventing rotation of the inner ball head 102 due to external forces during surgery, thus ensuring locking accuracy and effectiveness. The recessed meshing tooth edge 1021 on the outer wall surface of the inner ball head 102 forms an embedded mesh with the outer gear ring 2041 of the locking gear 204, reducing relative sliding of the meshing surfaces, lowering wear, and preventing accidental disengagement of the locking gear 204, thereby improving long-term reliability. In addition, the recessed meshing tooth edge 1021 does not require additional external space and can be adapted to the compact structure design of the inner ball head 102, ensuring the integration of the locking assembly with the inner ball head 102 and avoiding interference with other components.

[0119] In a specific embodiment, the guide member 203 includes a fixedly disposed guide rod and a fixing plate. The fixing plate is fixedly installed inside the outer sphere 101 by fasteners, and the guide rod is inserted into the insertion hole 2044. The axis of the guide rod extends through the center of the inner ball head 102.

[0120] The ball joint locking mechanism provided in this embodiment operates as follows:

[0121] In the locked state, the spring force of the torsion spring acts on the pressing part 20112 of the two levers through its second elastic end 2022, causing the connecting arm 20113 of the lever to push the two locking gears 204 to slide along the guide 203, and finally engage with the meshing tooth edge 1021 on the inner ball head 102 to achieve locking.

[0122] During the unlocking process, the force-applying drive component 205 is pushed inward, and the force-applying drive component 205 acts directly on the abutment part 20111 of the two lever components, overcoming the elastic force of the torsion spring component, so that the first lever component 2011 and the second lever component 2012 rotate synchronously. The rotation of the two lever components drives the two locking gears 204 to slide in the opposite direction along the guide component 203 through their upper connecting arm 20113, disengaging from the meshing tooth edge 1021, thus achieving unlocking.

[0123] For resetting, after the thrust on the force-applying drive member 205 is released, the elastic force of the torsion spring member drives the two lever members to reset. On the one hand, it drives the locking gear 204 to re-engage, and on the other hand, it pushes the force-applying drive member 205 back to its original position through the lever members.

[0124] Example 2

[0125] The difference from Example 1 is that, as Figures 8 to 14 As shown, in this embodiment, the transmission structure 201 includes a first lever 2011 and two second levers 2012; as Figures 9 to 11 As shown, the first lever 2011 specifically includes a first arm 20114, a first pivot hole 20115, and two second arms 20116; each second lever 2012 specifically includes a third arm 20121, a second pivot hole 20122, and a fourth arm 20123, with a locking gear 204 mounted on the fourth arm 20123. The force-applying drive 205 is rotatably connected to the outer sphere 101, and is detachably connected to the first arm 20114 of the first lever 2011. The two second arms 20116 respectively abut against the third arms 20121 of the two second levers 2012; the first elastic end 2021 of the elastic member 202 elastically abuts against the outer sphere 101, and the second elastic end 2022 elastically abuts against the second lever 2012.

[0126] In this embodiment, the elastic element 202 is adapted to elastically act on the fourth arm 20123 of the second lever element 2012 to keep the locking gear 204 engaged with the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are locked. Under the action of external force, the force-applying drive element 205 drives the first arm 20114 to rotate around the axis L1 of the first rotating shaft hole 20115, acts on the second arm 20116 to abut against the transmission third arm 20121, so that the third arm 20121 rotates around the axis L2 of the second rotating shaft hole 20122, and acts on the fourth arm 20123 to drive the locking gear 204 to rotate outward to move away from the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are unlocked.

[0127] In this embodiment, a first lever 2011 is linked to two second levers 2012 to ensure that the two locking gears 204 are synchronously engaged or disengaged with the two meshing tooth edges 1021 on the inner ball head 102, avoiding angular deviation caused by unilateral locking and improving locking accuracy. The elastic element 202 directly acts elastically on the second lever 2012. In non-operational situations, the second lever 2012 always pushes the locking gears 204 to maintain engagement, preventing accidental unlocking due to external forces such as vibration during surgery and ensuring surgical stability.

[0128] In specific embodiments, such as Figure 11 As shown, the distance from the contact portion of the force-applying drive component 205 with the first support arm 20114 to the first pivot hole 20115 is greater than the distance from the contact portion of the second support arm 20116 with the third support arm 20121 to the first pivot hole 20115, thus forming a force-saving lever structure. The contact point between the force-applying drive component 205 and the first support arm 20114 serves as the power arm, and the contact point between the second support arm 20116 and the third support arm 20121 serves as the resistance arm. The power arm is greater than the resistance arm, thus forming a force-saving lever, reducing the unlocking operation force and improving operation comfort.

[0129] In specific embodiments, such as Figure 10 and Figure 11 As shown, the first arm 20114 is provided with a plug-in protrusion 20117, and the force-applying drive component 205 is detachably connected to the plug-in protrusion 20117. The force-applying drive component 205 and the first arm 20114 are detachably connected through the plug-in protrusion 20117, which facilitates assembly. The plug-in protrusion 20117 specifically serves as a connecting force transmission part.

[0130] In specific embodiments, such as Figure 10 and Figure 11As shown, a contact ball 20118 is provided on the wall surface of the second arm 20116 facing the third arm 20121, and the contact ball 20118 is slidably disposed with the third arm 20121. The contact ball 20118 and the third arm 20121 slide in contact, forming a point contact friction, which reduces transmission resistance and component wear, helps to extend the service life of the mechanism, and ensures smooth operation over a long period of time.

[0131] In specific embodiments, such as Figure 11 As shown, the third arm 20121 and the fourth arm 20123 are arranged intersectingly. One end of the third arm 20121 is fixed to the middle section of the fourth arm 20123. The third arm 20121 is an arc-shaped rod, and the third arm 20121 of the two second lever members 2012 is wrapped around the inner ball head. The locking gear 204 is installed at one end of the fourth arm 20123, and the second rotating shaft hole 20122 is located at the other end of the fourth arm 20123. The fourth support arm 20123 is provided with a mounting groove 20124, which is spaced between the third support arm 20121 and the second pivot hole 20122. The second elastic end 2022 of the elastic element 202 is limited and abutted against the inner wall surface of the mounting groove 20124. The fourth support arm 20123 is provided with a guide groove 20125, which is opposite to the mounting groove 20124 and slides with the outer sphere 101.

[0132] The third arm 20121 is designed as an arc-shaped rod that encircles the inner ball head, making full use of the space around the inner ball head 102, avoiding interference between the lever and other components, and adapting to a compact structural design. The guide groove 20125 slides with the outer ball 101, which can limit the rotation trajectory of the second lever 2012, improving transmission stability and accuracy. By limiting the second elastic end 2022 of the elastic element 202 through the mounting groove 20124, it is ensured that the elastic force acts on the second lever 2012 in a preset direction, avoiding insufficient locking force caused by the offset of the elastic element 202, and maintaining a stable locking state.

[0133] In specific embodiments, such as Figure 13 and Figure 14 As shown, the outer sphere 101 is provided with a first connecting groove 1015 and a second connecting groove 1016. The first lever 2011 is movably configured with the first connecting groove 1015, and the second lever 2012 is movably configured with the second connecting groove 1016. The first connecting groove 1015 and the second connecting groove 1016 respectively position the first lever 2011 and the second lever 2012, optimize the movement path of the first lever 2011 and the second lever 2012, improve the movement accuracy, and also facilitate compact assembly.

[0134] The ball joint locking mechanism provided in this embodiment operates as follows:

[0135] In the locked state, the elastic force of the elastic element 202 acts on the second lever element 2012, causing the fourth arm 20123 of the second lever element 2012 to drive the locking gear 204 to press against and mesh with the meshing tooth edge 1021 of the inner ball head 102, thereby achieving locking.

[0136] During the unlocking process, the user applies a rotational force to the force-applying drive component 205, which drives the first arm 20114 of the first lever component 2011 to move. The first lever component 2011 rotates around its axis L1, and its second arm 20116 moves accordingly, pushing the third arm 20121 of the two second lever components 2012. The second lever components 2012 overcome the elastic force of the elastic component 202 and rotate around their own axis L2, ultimately causing their fourth arm 20123 to drive the locking gear 204 to rotate, disengaging from the meshing tooth edge 1021, thus achieving unlocking.

[0137] For reset, after the operating force on the force-applying drive member 205 is released, the elastic force of the elastic member 202 will push the second lever member 2012 to reset, and then push the second arm 20116 of the first lever member 2011 through the third arm 20121, so that the first lever member 2011 and the force-applying drive member 205 return to their original positions, and the locking gear 204 re-engages with the meshing tooth edge 1021.

[0138] Example 3

[0139] The difference from Example 1 is that, as Figures 15 to 18 As shown, in this embodiment, the transmission structure 201 includes a second lever 2012, which includes a third arm 20121, a second pivot hole 20122, and a fourth arm 20123. The second lever 2012 is rotatably connected to the outer sphere 101 through the second pivot hole 20122. Two second levers 2012 and two locking gears 204 are provided. The two locking gears 204 are respectively installed on the fourth arms 20123 of the two second levers 2012. The force-applying drive 205 is slidably disposed with the outer sphere 101. The first elastic end 2021 of the elastic member 202 is in limiting contact with the outer sphere 101, and the second elastic end 2022 of the elastic member 202 is in elastic contact with the third arm 20121. The third arm 20121 is disposed on the sliding path of the force-applying drive 205.

[0140] In this embodiment, the elastic element 202 is adapted to elastically act on the third arm 20121, so that the fourth arm 20123 acts on the locking gear 204 to keep it engaged with the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in a locked state; under the action of external force, the force-applying driving element 205 slides to drive the third arm 20121 to rotate around the axis of the second rotating shaft hole 20122, and acts on the fourth arm 20123 to drive the locking gear 204 to rotate outward to move away from the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in an unlocked state.

[0141] This embodiment achieves transmission through two second levers 2012, simplifying the overall structure, reducing transmission losses between components, and improving operational response speed. The two second levers 2012 are symmetrically arranged, and when the force-applying drive component 205 slides, it synchronously drives the two locking gears 204 to expand outward, avoiding tilting of the inner ball head 102 caused by unilateral unlocking, and ensuring a smooth unlocking process. The elastic component 202 directly acts elastically on the third support arm 20121. In non-operational situations, the locking gear 204 and the meshing tooth edge 1021 remain engaged, requiring no manual intervention, reducing the risk of misoperation during surgery, and ensuring surgical stability.

[0142] In specific embodiments, such as Figure 17 As shown, the outer sphere 101 is provided with a spring groove 1017, and the first elastic end 2021 of the elastic element 202 elastically abuts against the inner wall of the spring groove 1017; the spring groove 1017 limits the first elastic end 2021 of the elastic element 202, preventing the elastic element 202 from displacing or falling off when subjected to force, ensuring that the elastic force acts stably on the third support arm 20121, maintaining the consistency of the locking force, and avoiding locking failure. The elastic element 202 is configured as a spring element, and there are two elastic elements 202. Similarly, there are two spring grooves 1017, which are spaced apart, and the two elastic elements 202 are respectively installed in the two spring grooves 1017.

[0143] In specific embodiments, such as Figure 17 and Figure 18 As shown, the outer sphere 101 is provided with a second connecting groove 1016, which is connected to the compression spring groove 1017. The second lever 2012 is movably connected to the second connecting groove 1016. The connection between the second connecting groove 1016 and the compression spring groove 1017 allows the rotation path of the second lever 2012 to match the direction of the force of the elastic element 202, reducing motion interference, ensuring smooth operation of the second lever 2012, and improving the unlocking and locking response speed.

[0144] The ball joint locking mechanism provided in this embodiment operates as follows:

[0145] In the locked state, the elastic force of the two compression springs pushes the third arm 20121 of the two second levers 2012 outward, causing the second levers 2012 to rotate around their axis, while the fourth arm 20123 moves inward, driving the locking gear 204 to press against and mesh with the meshing tooth edge 1021 of the inner ball head 102, thus achieving locking.

[0146] For the unlocking process, by sliding the force-applying drive component 205 inward, the force-applying drive component 205 presses the third arm 20121 of the two second lever components 2012 inward. The third arm 20121 overcomes the elastic movement of the compression spring component, causing the lever component to rotate around the pivot, so that the fourth arm 20123 is lifted outward, thereby driving the locking gear 204 to rotate, disengaging from the meshing tooth edge 1021, and realizing unlocking.

[0147] For reset, after the thrust on the force-applying drive 205 is released, the elasticity of the compression spring is released, pushing the third arm 20121 of the two second levers 2012 back, which on the one hand drives the locking gear 204 to re-engage, and on the other hand pushes the force-applying drive 205 back to its original position through the third arm 20121.

[0148] Example 4

[0149] The difference from Example 1 is that, in this example, as Figure 19 and Figure 20 As shown, the transmission structure 201 includes a first lever 2011, a second lever 2012, and a guide rod (not shown in the figure). One end of the first lever 2011 and the second lever 2012 are rotatably connected to the guide rod. Two locking gears 204 are provided, and the two locking gears 204 are respectively hinged to the ends of the first lever 2011 and the second lever 2012 away from the guide rod. The guide rod is slidably engaged with the outer sphere 101. The first lever 2011 and the second lever 2012 are configured as arc-shaped rods, and their surfaces away from the inner ball head 102 slide against the inner wall surface of the outer sphere 101. The two locking gears 204 are symmetrically arranged outside the inner ball head 102, and the axial direction of the locking gears 204 coincides with the center of the inner ball head 102. The force-applying drive component 205 is slidably engaged with the outer sphere 101. The force-applying drive component 205 is specifically configured as an unlocking push-button.

[0150] The elastic element 202 is sleeved on the force-applying drive element 205 and is adapted to elastically act such that one end of the connecting rod of the first lever element 2011 and the second lever element 2012 moves away from the inner ball head 102, so that the ends of the first lever element 2011 and the second lever element 2012 away from the guide rod move closer to the inner ball head 102, so as to keep the locking gear 204 engaged with the meshing tooth edge 1021, and keep the outer ball 101 and the inner ball head 102 locked; under the action of external force, the force-applying drive element 205 drives one end of the connecting rod of the first lever element 2011 and the second lever element 2012 to move closer to the inner ball head 102, so that the ends of the first lever element 2011 and the second lever element 2012 away from the guide rod move away from the inner ball head 102, so as to disengage the locking gear 204 from the meshing tooth edge 1021, and keep the outer ball 101 and the inner ball head 102 unlocked.

[0151] In this embodiment, the two locking gears 204 are symmetrically arranged. The first lever 2011 and the second lever 2012 are arc-shaped rods that slide against the inner wall of the outer ball 101 to ensure that the inner ball head 102 is subjected to uniform force during locking, avoiding angular deviation caused by unilateral force and improving locking accuracy. The force-applying drive 205 can slide to link the first lever 2011 and the second lever 2012 to move synchronously, and drive the guide rod to slide and guide the outer ball 101, realizing quick unlocking or locking without complicated operation steps, which is suitable for the high-frequency angle adjustment needs during surgery.

[0152] In specific embodiments, such as Figure 19 and Figure 20 As shown, the outer sphere 101 is provided with a sliding groove 1013, and the force-applying driving component 205 is slidably disposed with the sliding groove 1013; the force-applying driving component 205 includes a force-applying end 2051, a guide rod 2052 and a stop circular plate 2053, the force-applying end 2051 and the stop circular plate 2053 are spaced apart, the guide rod 2052 is connected between the force-applying end 2051 and the stop circular plate 2053, and the elastic element 202 is sleeved on the outside of the guide rod 2052; the force-applying end 2051 is disposed outside the outer sphere 101, the guide rod 2052 is disposed inside the sliding groove 1013, and the stop circular plate 2053 is disposed inside the outer sphere 101.

[0153] The force-applying end 2051 is located outside the outer sphere 101. The guide rod 2052 and the stop plate 2053 limit the sliding range of the force-applying drive component 205 to avoid damage to the component due to excessive force application. The external layout of the force-applying end 2051 facilitates operation by doctors.

[0154] In one embodiment, the elastic element 202 is configured as a tension spring, with one end of the elastic element 202 connected to the inner wall of the outer sphere 101 and the other end connected to the stop plate 2053.

[0155] In another embodiment, the elastic element 202 is configured as a compression spring, with one end of the elastic element 202 connected to the outer wall of the outer sphere 101 and the other end elastically abutting against the force-applying end 2051 of the force-applying drive element 205.

[0156] In the above scheme, for the elastic element 202, a tension spring can be selected, which acts between the inner wall of the outer sphere 101 and the stop circular plate 2053, or a compression spring can be selected, which acts between the outer wall of the outer sphere 101 and the force-applying end 2051. The flexible configuration according to the internal space of the mechanism and the locking force requirements is conducive to enhancing the adaptability of the structure.

[0157] In specific embodiments, such as Figure 19 and Figure 20 As shown, the locking gear 204 includes an outer gear ring 2041, a limiting post 2042, and a sliding post 2045. The limiting post 2042 and the sliding post 2045 are arranged opposite to each other on both sides of the outer gear ring 2041. The inner ball head 102 is provided with a limiting groove 1022, and the limiting post 2042 slides against the limiting groove 1022. The outer ball 101 is provided with a sliding hole 1018, and the sliding post 2045 and the sliding hole 1018 are slidably arranged. The outer ball 101 is provided with a sliding part 1019, and the sliding post 2045 and the sliding part 1019 are slidably arranged. The limiting post 2042 slides against the limiting groove 1022 of the inner ball head 102, and the sliding post 2045 slides with the sliding hole 1018 and sliding part 1019 of the outer ball 101. Together, they limit the movement range of the locking gear 204 from the inside and outside, enhance the positioning effect, and ensure the vertical movement accuracy. This prevents the locking gear 204 from shifting and disengaging when it meshes with the meshing tooth edge 1021, thus improving the locking reliability.

[0158] In specific embodiments, such as Figure 20 As shown, the abutment portions 20111 of the first lever 2011 and the second lever 2012 are offset and spliced ​​on the sliding path of the force-applying drive component 205; the first lever 2011 and the second lever 2012 are provided with guide rod holes 20119 near the guide rod, and the guide rod passes through the guide rod holes 20119. The offset splicing of the abutment portions 20111 of the first lever 2011 and the second lever 2012 on the sliding path of the force-applying drive component 205 strengthens the compact structure. The synchronous linkage is achieved by the guide rod passing through the guide rod holes 20119, ensuring that the two levers move in unison, driving the locking gear 204 to engage and disengage synchronously, avoiding malfunctions caused by unilateral movement.

[0159] In specific embodiments, such as Figure 20As shown, the first lever 2011 and the second lever 2012 have a hinge hole 201110 at the end away from the guide rod. Either lever is hinged to the locking gear through the hinge hole 201110. Hinging the locking gear 204 through the hinge hole 201110 simplifies the connection structure and facilitates later maintenance and replacement.

[0160] The ball joint locking mechanism provided in this embodiment operates as follows:

[0161] For locking, the elastic force of the elastic element 202 pulls the stop plate 2053 of the force-applying drive element 205 outward, thereby pulling the proximal ends of the two arc-shaped levers outward through the guide rod. The middle arc segment of the two levers slides inward along the inner wall of the outer sphere 101. According to the lever principle, the end where the locking gear 204 is installed moves inward to push the two locking gears 204 to engage with the meshing tooth edge 1021 of the inner ball head 102, thereby achieving locking.

[0162] During the unlocking process, pressing the force-applying end 2051 of the force-applying drive component 205 overcomes the elastic force of the elastic component 202, pushing the stop plate 2053, the guide rod 2052, and the guide rod to slide inward together. The guide rod pushes the proximal ends of the two arc-shaped levers to move inward, and the middle arc segment of the lever slides outward along the inner wall of the outer sphere 101. According to the lever principle, the end where the locking gear 204 is installed moves outward, causing the two locking gears 204 to disengage from the meshing tooth edge 1021, thus achieving unlocking.

[0163] For reset, after releasing the pressing action, the elastic force of the elastic element 202 automatically pulls the force-applying drive element 205 back to its original position, and the entire mechanism is then reset to the locked state.

[0164] Example 5

[0165] The difference from Example 1 is that, in this example, as Figure 21 and Figure 22 As shown, the transmission structure 201 is configured as a transmission rod, one end of which is fixedly connected to the force-applying drive component 205, and the other end is fixedly connected to the locking gear 204. The force-applying drive component 205 is disposed outside the outer sphere 101, and the locking gear 204 is disposed inside the outer sphere 101. The transmission rod and the outer sphere 101 are slidably configured. A constraint rod (not shown in the figure) is fixedly disposed inside the outer sphere 101. The constraint rod is slidably engaged with the constraint groove 2013 disposed on the transmission rod to constrain the sliding displacement path of the transmission rod. There are two force-applying drive components 205, which are symmetrically disposed outside the inner ball head 102. The transmission rod and the locking gear 204 are coaxially disposed, and the extension direction of the transmission rod coincides with the center of the inner ball head 102.

[0166] The elastic element 202 is sleeved on the transmission rod and elastically disposed between the force-applying drive element 205 and the outer wall surface of the outer ball 101. The elastic element 202 is configured as a compression spring and is adapted to elastically engage the locking gear 204 and the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in an unlocked state. Under the action of external force, the force-applying drive element 205 drives the transmission rod and the locking gear 204 to slide, so that the locking gear 204 engages with the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in a locked state.

[0167] In this embodiment, the elastic element 202 acts between the force-applying drive element 205 and the outer wall of the outer sphere 101. In non-operational situations, it automatically pushes the locking gear 204 to separate from the meshing tooth edge 1021, maintaining the unlocked state. This allows the inner ball head 102 to rotate freely and adjust its angle, meeting the frequent angle adjustment needs during surgery. The transmission rod is coaxial with the locking gear 204, and its extension direction coincides with the center of the inner ball head 102. This ensures that when the force-applying drive element 205 drives the transmission rod to slide, the locking gear 204 precisely meshes in the direction pointing to the center of the ball, avoiding locking failure caused by misalignment. The constraint rod slides with the constraint groove 2013 on the transmission rod, limiting the sliding path of the transmission rod and preventing misalignment of the locking gear 204 caused by transmission rod deviation. This ensures precise and controllable locking and unlocking actions, meeting the needs of high-precision surgery.

[0168] The ball joint locking mechanism provided in this embodiment operates as follows:

[0169] In the unlocked state, the elastic force of the elastic element 202 pushes the force-applying drive element 205 outward, so that the force-applying drive element 205, the transmission rod, and the locking gear 204 are in a position away from the inner ball head 102; at this time, the locking gear 204 is separated from the meshing tooth edge 1021, and the ball joint can move freely.

[0170] During the locking process, the force of the pressure spring is overcome by pressing the force-applying drive component 205, which pushes the entire moving part to slide in a straight line along the constraint rod so that the locking gear 204 engages with the meshing tooth edge 1021 on the inner ball head 102, thereby achieving locking.

[0171] For reset, after releasing the press, the elastic force of the elastic element 202 automatically pushes the entire moving part back to its original position, the locking gear 204 disengages, and the ball joint returns to the unlocked state when not in operation.

[0172] Example 6

[0173] The difference from Example 1 is that, in this example, as Figures 23 to 26As shown, the transmission structure 201 includes two third lever members 2014, each third lever member 2014 including a fifth support arm 20141, a third shaft hole 20142 and a sixth support arm 20143; two locking gears 204 are provided, and the two locking gears 204 are respectively installed on the sixth support arms 20143 of the two third lever members 2014; the force-applying drive member 205 is rotatably installed on the outer sphere 101, and the fifth support arm 20141 has an outer wall profile surface extending toward the force-applying drive member 205.

[0174] One end of the elastic element 202 elastically abuts against the fifth arm 20141 of the third lever element 2014, and the other end is fixed to the outer ball 101. The elastic element 202 is adapted to elastically engage the locking gear 204 with the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in a locked state. Under the action of external force, the force-applying drive element 205 rotates and contacts the outer wall contour surface of the fifth arm 20141, so that the fifth arm 20141 rotates around the third rotating shaft hole 20142, so as to act on the sixth arm 20143 to drive the locking gear 204 to separate from the meshing tooth edge 1021, so that the outer ball 101 and the inner ball head 102 are in an unlocked state.

[0175] In this embodiment, the two third lever members 2014 are symmetrically arranged. When the force-applying drive member 205 is rotated, the force-applying drive member 205 rotates synchronously and contacts the outer wall contour surface of the fifth support arm 20141 in the third lever member 2014, so as to drive the two locking gears 204 to separate synchronously from the two meshing tooth edges 1021, avoiding the tilting of the inner ball head 102 caused by unilateral locking and improving locking stability. The elastic member 202 acts on the fifth support arm 20141. In non-operational situations, it automatically pushes the locking gears 204 to mesh with the meshing tooth edges 1021 to prevent accidental unlocking during surgery. At the same time, the elastic force can buffer external vibration and ensure the stability of the locking state.

[0176] In specific embodiments, such as Figure 24 and Figure 26 As shown, the force-applying drive component 205 includes a rotating seat 2054 and a force-transmitting ball 2055. The rotating seat 2054 is rotatably mounted on the outer sphere 101, and the force-transmitting ball 2055 is fixedly mounted on the side of the rotating seat 2054 facing the third lever component 2014. A positioning ring 10111 is provided on the outer sphere 101. The rotating seat 2054 and the positioning ring 10111 are coaxially rotatably configured. One end of the elastic element 202 is connected to the positioning ring 10111, and the other end is connected to the rotating seat 2054. The force-transmitting ball 2055 is in point contact with the outer wall contour surface of the third lever component 2014 to reduce frictional resistance and ensure smooth transmission when the force-applying drive component 205 rotates, avoiding jamming. The positioning ring 10111 and the rotating seat 2054 are coaxially rotatably coupled, which can limit the rotation trajectory of the force-applying drive component 205 and avoid transmission failure caused by deviation.

[0177] In specific embodiments, such as Figure 26 As shown, the outer sphere 101 is provided with two third connecting grooves 10110, and two third lever components 2014 are movably installed in the third connecting grooves 10110 through the third pivot holes 20142 respectively. The two third connecting grooves 10110 position the two third lever components 2014, ensuring the stability of the lever component rotation path and improving the locking accuracy.

[0178] The ball joint locking mechanism provided in this embodiment operates as follows:

[0179] In the locked state, the elastic force of the elastic element 202 acts on the fifth arm 20141 of the third lever element 2014, causing it to swing outward. According to the lever principle, this causes the sixth arm 20143 to swing inward, thereby causing the locking gear 204 on the sixth arm 20143 to mesh tightly with the meshing tooth edge 1021 of the inner ball head 102, thus achieving locking.

[0180] For the unlocking process, the rotating seat 2054 of the force-applying drive component 205 is rotated in the specified direction to... Figure 24 For example, rotating the rotating seat 2054 upwards causes the force transmission ball 2055 to rotate together. During the rotation, the force transmission ball 2055 will contact the outer contour surface of the fifth arm 20141 and continuously press against the contour surface as it rotates. This pressure can overcome the elasticity of the torsion spring, forcing the fifth arm 20141 to swing inwards. The movement of the fifth arm 20141 causes the sixth arm 20143 to swing outwards, thereby driving the locking gear 204 to rotate, disengaging from the meshing tooth edge 1021, and unlocking.

[0181] For reset, when the rotation is reversed or the torque on the rotating seat 2054 is released, the elastic force of the elastic element 202 will push the fifth arm 20141 to swing in the opposite direction, pressing its outer wall profile back onto the force transmission ball 2055, thereby driving the rotating seat 2054 and the force transmission ball 2055 back to their original positions. At the same time, the sixth arm 20143 drives the locking gear 204 to re-engage and return to the locked state.

[0182] Example 7

[0183] This embodiment provides a medical device, such as Figure 27 and Figure 28 As shown, it includes a handle 301, a rotating cover 302, and a ball locking mechanism of one of the above embodiments.

[0184] The ball locking mechanism includes an outer ball 101 and an inner ball head 102 that are hinged to each other. A rotating cover 302 is rotatably disposed on the outside of the outer ball 101. The handle 301 is integrally formed with the outer ball 101.

[0185] In a specific embodiment, the outer ball 101 of the ball-mounted locking mechanism is rotatably mounted to the rotating cover 302, while the inner ball head 102 is movably mounted within the handle 301. This integrates the locking operation with the gripping operation of the handle 301, allowing the surgeon to quickly control locking and unlocking while holding the handle 301 without needing to locate additional operating components, thus improving surgical efficiency. The rotating cover 302, located on the outside of the outer ball 101, provides protection for the ball-mounted locking mechanism. The integral molding and fixing of the handle 301 and the outer ball 101 improves the stable transmission of force during angle adjustments, preventing other connection methods from loosening and affecting operational accuracy. Through the integrated design of the mechanism, handle 301, and rotating cover 302, it adapts to the handheld operation requirements of minimally invasive surgical instruments, balancing ease of operation and compact structure, and can be widely applied to various minimally invasive surgical instruments.

[0186] In a specific embodiment, the medical device further includes an insertion rod 303, a control device (not shown in the figure), and an actuator 304. One end of the insertion rod 303 is fixedly connected to the control device, and the insertion rod 303, the control device, and the inner ball head 102 are coaxially arranged. The other end is fixedly connected to the actuator 304. The insertion rod 303 is inserted into the rotating cover 302 and fixedly mounted thereto. The fixed mounting of the insertion rod 303 and the rotating cover 302 ensures the rigidity and accuracy of power transmission.

[0187] In this embodiment, the control device is inserted into the outer sphere 101 and the inner ball head 102. Under external force, the rotating cover 302 is adapted to drive the insertion rod 303 to rotate, thereby coordinating the rotation of the control device and the actuator 304. The rotating cover 302 serves as the user's operating part. Its rotational movement is transmitted to the proximal control device and the distal actuator 304 through the insertion rod 303. The control device is inserted into the outer sphere 101 and the inner ball head 102 of the ball joint, achieving functional coaxial nesting and making full use of the limited space within the ball joint. The user can adjust the rotation angle of the ball joint, specifically by adjusting the handle 301, to adjust the movement posture of the control device within the ball joint. The control device can then coordinate the corresponding movement of the actuator 304 to match the operational requirements. By locking the rotation angle of the ball joint through the locking assembly, the movement posture of the control device can be locked, thereby locking the movement posture of the distal actuator 304.

[0188] In this design, the adjustment and locking action and the rotation action of the distal actuator 304 are decoupled from each other, optimizing the operation logic. The two processes can be controlled independently. This design helps to improve the flexibility and operability of surgical operations.

[0189] In a specific embodiment, the medical device also includes a sheath 305, which is fitted onto the outside of the outer sphere 101 to protect the locking mechanism and prevent impurities from entering; in addition, the sheath 305 can prevent doctors from accidentally touching the transmission part of the locking mechanism during operation.

[0190] The medical device provided in this embodiment is equipped with a ball joint locking mechanism, which ensures the stability and operational precision of the instrument forceps head in the locked state. In the unlocked state, the locking mechanism can release the actuator 304, giving it flexible omnidirectional deflection function, thereby helping doctors perform delicate operations in complex surgical environments; it helps ensure the safety and reliability of the operation, improves the accuracy of the surgery, and further enhances the treatment effect on patients.

[0191] The medical device provided in this embodiment specifically comprises a clamp joint, an insertion rod, a sheath, a handle, an unlocking button, an electrode interface, and a monopole cable. The force-applying drive component in the ball joint locking mechanism serves as the unlocking button, and the clamp joint acts as the actuator 304. The omnidirectional deflection of the clamp joint is achieved by controlling the omnidirectional deflection of the ball joint. Specifically, this can be achieved through a control line that links the clamp joint forward and backward, providing intuitive mapping of the doctor's hand movements. Furthermore, the device can be connected to an external electrosurgical host via the electrode interface and monopole cable, and electrosurgical energy can be activated via a foot switch.

[0192] The specific operating procedure is as follows: The surgeon places their thumb and forefinger outside the ball joint to control the direction of the forceps head. The instrument is specifically designed as a normally locked instrument, allowing the surgeon to fix the forceps joint at a specific angle as needed, ensuring the forceps head remains stable during surgery and preventing instability from affecting operational accuracy. When unlocking is required, pressing the unlock button releases the locking mechanism, allowing the forceps joint to rotate omnidirectionally for greater flexibility. The remaining fingers and palm naturally grip the handle, and the thumb and forefinger adjust the forceps joint rotation to allow the distal forceps head to reach the desired angle. Releasing the unlock button returns the forceps joint to its original, fixed position at the specified angle. To activate electrosurgical energy, a cable connects the electrode interface to the main unit, and the activation of the electrosurgical energy is controlled via a foot switch.

[0193] Of course, in the above description, the actuator 304 is not limited to the clamp joint, but can also be set as a monopolar electrosurgical instrument, such as a monopolar electric hook, a monopolar electric shovel, an electrode rod, etc.

[0194] 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 ball sub-lock mechanism characterized by, The application relates to a ball joint and a locking assembly thereof. The ball joint comprises an outer ball (101) and an inner ball head (102) hinged to each other, wherein the inner ball head (102) is provided with two symmetrical engagement tooth edges (1021). The locking assembly comprises a transmission structure (201), an elastic member (202), a locking gear (204) and a force driving member (205); the transmission structure (201) is installed on the outer ball (101) and is in transmission connection with the force driving member (205); one end of the elastic member (202) is connected with the outer ball (101), and the other end is connected with the transmission structure (201) or the force driving member (205); the locking gear (204) is arranged on the transmission side of the transmission structure (201), and the locking gear (204) is correspondingly arranged with the engagement tooth edge (1021). The force driving member (205) is movably arranged on the outer ball (101) to receive external force and drive the locking gear (204) to separate from or engage with the engagement tooth edge (1021) through the transmission structure (201); the elastic member (202) is adapted to provide elastic restoring force to keep the locking gear (204) in engagement or separation with the engagement tooth edge (1021) in a non-operating state.

2. The ball sub-lock mechanism according to claim 1, wherein The transmission structure (201) comprises a first lever member (2011) and a second lever member (2012); the locking gear (204) is coaxially and slidingly installed on a guide member (203); the guide member (203) is arranged in the same direction as the center of the inner ball head (102); the force driving member (205) is slidingly arranged on the outer ball (101); the first elastic end (2021) of the elastic member (202) is in abutment with the outer ball (101), and the second elastic end (2022) is in abutment with the first lever member (2011) and the second lever member (2012); the elastic member (202) is adapted to provide elastic force to engage the locking gear (204) with the engagement tooth edge (1021); One end of the first lever member (2011) and the second lever member (2012) is provided with the locking gear (204), and the other end is arranged on the sliding path of the force driving member (205), so that the sliding force driving member (205) can drive the first lever member (2011) and the second lever member (2012) to move, thereby driving the locking gear (204) to slide along the guide direction of the guide member (203) to separate from the engagement tooth edge (1021).

3. The ball sub-lock mechanism according to claim 2, wherein Any lever piece includes an abutting part (20111), a pressure connecting part (20112) and a connecting arm (20113), the abutting parts (20111) of the first lever piece (2011) and the second lever piece (2012) are arranged in a staggered manner on the sliding path of the force applying driving piece (205), the pressure connecting part (20112) is limited and abuts against the second elastic end (2022), and the locking gear (204) is movably installed on the connecting arm (20113).

4. The ball sub-lock mechanism according to claim 3, wherein The locking gear (204) includes an outer gear ring (2041), a limiting column (2042), a baffle (2043) and a plug-in hole (2044), the outer gear ring (2041) is conformally engaged with the meshing tooth edge (1021), the limiting column (2042) is arranged on the lateral end face of the outer gear ring (2041) towards the center of the inner ball head (102), the inner ball head (102) is provided with a limiting groove (1022), the limiting column (2042) is slidably abutted with the limiting groove (1022), the baffle (2043) is arranged on the side of the outer gear ring (2041) away from the limiting column (2042), the connecting arm (20113) is movably arranged between the baffle (2043) and the outer gear ring (2041), and the plug-in hole (2044) is arranged through the outer gear ring (2041), the limiting column (2042) and the baffle (2043), and the guide piece (203) is arranged through the plug-in hole (2044).

5. Ball sub-locking mechanism according to any of claims 2-4, characterized in that The outer ball (101) includes a fixedly connected outer ball cover (1011) and a cover ring (1012), an assembly cavity is arranged between the outer ball cover (1011) and the cover ring (1012), the transmission structure (201) and the elastic piece (202) are accommodated in the assembly cavity, and the locking gear (204) is adapted to slide in and out of the assembly cavity.

6. The ball sub-lock mechanism according to claim 5, wherein The elastic piece (202) is a torsion spring piece, the assembly cavity is provided with a torsion spring groove (1014), and the first elastic end (2021) is arranged in limited abutment with the inner wall surface of the torsion spring groove (1014). The outer ball (101) is provided with a sliding groove (1013), the sliding groove (1013) is arranged in communication with the assembly cavity, and the force applying driving piece (205) is slidably installed on the sliding groove (1013).

7. The ball sub-lock mechanism of claim 1, wherein The transmission structure (201) comprises a first lever member (2011) and two second lever members (2012); the first lever member (2011) comprises a first branch (20114), a first rotating shaft hole (20115) and two second branches (20116); each second lever member (2012) comprises a third branch (20121), a second rotating shaft hole (20122) and a fourth branch (20123), and the locking gear (204) is installed on the fourth branch (20123); the force applying driving member (205) is rotationally arranged on the outer sphere (101), and the force applying driving member (205) is detachably connected with the first branch (20114) of the first lever member (2011), and the two second branches (20116) are respectively abutted with the third branches (20121) of the two second lever members (2012); The first elastic end (2021) of the elastic member (202) is elastically abutted with the outer sphere (101), and the second elastic end (2022) is elastically abutted with the second lever member (2012); the elastic member (202) is suitable for elastically acting on the fourth branch (20123) of the second lever member (2012) to keep the locking gear (204) in engagement with the meshing tooth edge (1021), so that the outer sphere (101) and the inner ball head (102) are in a locked state; under the action of external force, the force applying driving member (205) drives the first branch (20114) to rotate around the axis of the first rotating shaft hole (20115), and the second branch (20116) is abutted to drive the third branch (20121) to rotate around the axis of the second rotating shaft hole (20122), and the fourth branch (20123) drives the locking gear (204) to rotate and expand outward, so as to move away from the meshing tooth edge (1021), so that the outer sphere (101) and the inner ball head (102) are in an unlocked state.

8. The ball sub-lock mechanism according to claim 7, wherein The distance from the contact part of the force applying driving member (205) to the first rotating shaft hole (20115) is greater than the distance from the contact part of the second branch (20116) to the third branch (20121) to the first rotating shaft hole (20115), so as to form a labor-saving lever structure; and / or; The first branch (20114) is provided with an insertion protrusion (20117), and the force applying driving member (205) is detachably connected with the insertion protrusion (20117); and / or; The wall surface of the second branch (20116) facing the third branch (20121) is provided with a contact convex ball (20118), and the contact convex ball (20118) is slidingly arranged on the third branch (20121).

9. The ball sub-lock mechanism of claim 7, wherein, The third branch arm (20121) and the fourth branch arm (20123) are arranged in cross, one end of the third branch arm (20121) is fixedly arranged with the middle section of the fourth branch arm (20123), the third branch arm (20121) is arranged as an arc-shaped rod, the third branch arms (20121) of the two second lever members (2012) are arranged around the inner ball head (102); the locking gear (204) is installed at one end of the fourth branch arm (20123), the second rotating shaft hole (20122) is arranged at the other end of the fourth branch arm (20123); the fourth branch arm (20123) is provided with a mounting groove (20124), the mounting groove (20124) is arranged at intervals between the third branch arm (20121) and the second rotating shaft hole (20122), the second elastic end (2022) of the elastic member (202) is arranged in abutment with the inner wall surface of the mounting groove (20124) in limiting mode; the fourth branch arm (20123) is provided with a guide groove (20125), the guide groove (20125) is arranged away from the mounting groove (20124), the guide groove (20125) is arranged in sliding mode with the outer sphere (101); and / or; The outer sphere (101) is provided with a first connecting groove (1015) and a second connecting groove (1016), the first lever member (2011) is arranged in movable mode with the first connecting groove (1015), and the second lever member (2012) is arranged in movable mode with the second connecting groove (1016).

10. The ball sub-lock mechanism of claim 1, wherein The transmission structure (201) comprises a second lever member (2012), the second lever member (2012) comprises a third branch arm (20121), a second rotating shaft hole (20122) and a fourth branch arm (20123); the second lever member (2012) is rotatably connected with the outer sphere (101) through the second rotating shaft hole (20122), the second lever member (2012) and the locking gear (204) are both provided with two, the two locking gears (204) are respectively installed on the fourth branch arms (20123) of the two second lever members (2012), and the force applying driving member (205) is arranged in sliding mode with the outer sphere (101); The first elastic end (2021) of the elastic member (202) is in position with the outer sphere (101), and the second elastic end (2022) of the elastic member (202) is in elastic abutment with the third supporting arm (20121) which is arranged on the sliding path of the force applying driving member (205); the elastic member (202) is adapted to elastically act on the third supporting arm (20121) so that the fourth supporting arm (20123) acts on the locking gear (204) and the meshing tooth edge (1021) to keep them in engagement, and the outer sphere (101) and the inner spherical head (102) are in the locked state; under the action of external force, the force applying driving member (205) slides to drive the third supporting arm (20121) to rotate around the axis of the second rotating shaft hole (20122), and the fourth supporting arm (20123) drives the locking gear (204) to rotate outward to move away from the meshing tooth edge (1021), so that the outer sphere (101) and the inner spherical head (102) are in the unlocked state.

11. The ball sub-lock mechanism of claim 10, wherein, The outer sphere (101) is provided with a compression spring groove (1017), the elastic member (202) is a compression spring member, and the first elastic end (2021) of the elastic member (202) is in elastic abutment with the inner wall of the compression spring groove (1017); The outer sphere (101) is provided with a second connecting groove (1016), the second connecting groove (1016) is arranged in communication with the compression spring groove (1017), and the second lever member (2012) is movably arranged in the second connecting groove (1016).

12. The ball sub-lock mechanism of claim 1, wherein, The transmission structure (201) comprises a first lever member (2011), a second lever member (2012) and a guide rod; one end of the first lever member (2011) and the second lever member (2012) are rotatably connected to the guide rod, the locking gear (204) is provided with two, and the two locking gears (204) are hingedly arranged at the ends of the first lever member (2011) and the second lever member (2012) away from the guide rod, the guide rod is in sliding fit with the outer sphere (101); the first lever member (2011) and the second lever member (2012) are arc-shaped lever members, and the ends away from the wall surface of the inner spherical head (102) and the inner wall surface of the outer sphere (101) are in sliding abutment; the two locking gears (204) are symmetrically arranged outside the inner spherical head (102), the axis direction of the locking gear (204) is arranged to coincide with the center of the inner spherical head (102); the force applying driving member (205) is in sliding fit with the outer sphere (101); The elastic member (202) is sleeved on the force applying driving member (205) and is adapted to elastically act on the first lever member (2011) and the second lever member (2012) to connect the end of the guide rod away from the inner ball head (102), so that the first lever member (2011) and the second lever member (2012) are close to the inner ball head (102) at the end away from the guide rod, so as to keep the locking gear (204) in engagement with the meshing tooth edge (1021) and keep the outer ball (101) in the locked state with the inner ball head (102); under the action of external force, the force applying driving member (205) drives the first lever member (2011) and the second lever member (2012) to connect the end of the guide rod close to the inner ball head (102), so that the first lever member (2011) and the second lever member (2012) are away from the inner ball head (102) at the end away from the guide rod, so as to disengage the locking gear (204) from the meshing tooth edge (1021), and keep the outer ball (101) in the unlocked state with the inner ball head (102).

13. The ball sub-lock mechanism of claim 12, wherein, The outer ball (101) is provided with a sliding groove (1013), and the force applying driving member (205) is slidably arranged in the sliding groove (1013); The force applying driving member (205) comprises a force applying end (2051), a force guide rod (2052) and a stop circular plate (2053), the force applying end (2051) and the stop circular plate (2053) are arranged at intervals, the force guide rod (2052) is connected between the force applying end (2051) and the stop circular plate (2053), and the elastic member (202) is sleeved on the force guide rod (2052); the force applying end (2051) is arranged outside the outer ball (101), the force guide rod (2052) is arranged in the sliding groove (1013), and the stop circular plate (2053) is arranged inside the outer ball (101); The elastic member (202) is arranged as a tension spring member, one end of the elastic member (202) is connected with the inner wall of the outer ball (101), and the other end is connected with the stop circular plate (2053); or, the elastic member (202) is arranged as a compression spring member, one end of the elastic member (202) is connected with the outer wall of the outer ball (101), and the other end is elastically connected with the force applying end (2051) of the force applying driving member (205).

14. The ball sub-lock mechanism of claim 12, wherein, The locking gear (204) comprises an outer gear ring (2041), a limiting column (2042) and a sliding column (2045), the limiting column (2042) and the sliding column (2045) are arranged on the two sides of the outer gear ring (2041) oppositely; the inner ball head (102) is provided with a limiting groove (1022), the limiting column (2042) and the limiting groove (1022) slide and abut; the outer ball (101) is provided with a sliding hole (1018), the sliding column (2045) and the sliding hole (1018) slide, the outer ball (101) is provided with a sliding part (1019), the sliding column (2045) and the sliding part (1019) slide; and / or; The abutting parts (20111) of the first lever (2011) and the second lever (2012) are arranged on the sliding path of the force applying driving part (205) in a staggered manner; the first lever (2011) and the second lever (2012) are close to the guide rod hole (20119) of the guide rod, and the guide rod is arranged in the guide rod hole (20119); and / or; The first lever (2011) and the second lever (2012) are provided with a hinged hole (201110) at one end away from the guide rod, and any lever is hinged and matched with the locking gear through the hinged hole (201110).

15. The ball sub-lock mechanism of claim 1, wherein, The transmission structure (201) is arranged as a transmission rod, one end of the transmission rod is fixedly connected with the force applying driving part (205), and the other end is fixedly connected with the locking gear (204); the force applying driving part (205) is arranged outside the outer ball (101), the locking gear (204) is arranged inside the outer ball (101), and the transmission rod and the outer ball (101) slide; the outer ball (101) is fixedly provided with a constraint rod, the constraint rod is slidably matched with a constraint groove (2013) arranged on the transmission rod, so as to constrain the sliding displacement path of the transmission rod; the force applying driving part (205) is provided with two, and the two force applying driving parts (205) are symmetrically arranged outside the inner ball head (102), the transmission rod and the locking gear (204) are coaxially arranged, and the extension direction of the transmission rod coincides with the ball center of the inner ball head (102). The elastic member (202) is sleeved on the transmission rod and elastically arranged between the force applying driving member (205) and the outer wall surface of the outer sphere (101); the elastic member (202) is arranged as a compression spring member, and is adapted to elastically separate the locking gear (204) from the meshing tooth edge (1021) to make the outer sphere (101) and the inner ball head (102) in an unlocked state; under the action of external force, the force applying driving member (205) drives the transmission rod and the locking gear (204) to slide, so as to make the locking gear (204) mesh with the meshing tooth edge (1021) to make the outer sphere (101) and the inner ball head (102) in a locked state.

16. The ball sub-lock mechanism of claim 1, wherein, The transmission structure (201) comprises two third lever members (2014), each of which comprises a fifth branch arm (20141), a third rotating shaft hole (20142) and a sixth branch arm (20143); the locking gears (204) are provided in two, and are respectively installed on the sixth branch arms (20143) of the two third lever members (2014); the force applying driving member (205) is rotationally installed on the outer sphere (101), and the fifth branch arm (20141) has an outer wall contour surface extending towards the force applying driving member (205); One end of the elastic member (202) is elastically abutted against the fifth branch arm (20141) of the third lever member (2014), and the other end is fixed with the outer sphere (101); the elastic member (202) is adapted to elastically mesh the locking gear (204) with the meshing tooth edge (1021) to make the outer sphere (101) and the inner ball head (102) in a locked state; under the action of external force, the force applying driving member (205) rotationally contacts the outer wall contour surface of the fifth branch arm (20141), so that the fifth branch arm (20141) rotates around the third rotating shaft hole (20142) to drive the sixth branch arm (20143) to separate the locking gear (204) from the meshing tooth edge (1021) to make the outer sphere (101) and the inner ball head (102) in an unlocked state.

17. The ball sub-lock mechanism of claim 16, wherein, The force applying driving member (205) comprises a rotating seat (2054) and a force transmission ball (2055), the rotating seat (2054) is rotationally arranged on the outer sphere (101), and the force transmission ball (2055) is fixedly arranged on one side of the rotating seat (2054) towards the third lever member (2014); the outer sphere (101) is provided with a positioning ring (10111), the rotating seat (2054) and the positioning ring (10111) are coaxially rotationally arranged, one end of the elastic member (202) is connected with the positioning ring (10111), and the other end is connected with the rotating seat (2054); and / or Two third connecting grooves (10110) are arranged on the outer sphere (101), and two third lever members (2014) are movably arranged in the third connecting grooves (10110) through third rotating shaft holes (20142).

18. The ball sub-lock mechanism of claim 1, wherein, The engaging tooth edges (1021) are arranged on the outer wall surface of the inner ball head (102), and two outer gear rings (2041) of the locking gears (204) are correspondingly and adaptively connected with two engaging tooth edges (1021), and the two engaging tooth edges (1021) are oppositely and spacedly arranged.

19. A medical device, comprising: The handle (301), the rotating cover (302) and the ball pair locking mechanism of any one of claims 1-18 are included, the ball pair locking mechanism includes the outer sphere (101) and the inner ball head (102) which are hingedly connected, the rotating cover (302) is rotatably arranged outside the outer sphere (101), and the handle (301) is integrally formed with the outer sphere (101).

20. The medical device of claim 19, wherein, The medical instrument further includes an insertion rod (303), a control instrument and an execution instrument (304), one end of the insertion rod (303) is fixedly connected with the control instrument, the insertion rod (303), the control instrument and the inner ball head (102) are coaxially arranged, the other end is fixedly connected with the execution instrument (304), the insertion rod (303) is inserted into the rotating cover (302) and is fixedly arranged with the rotating cover (302); the control instrument is arranged in the outer sphere (101) and the inner ball head (102); under the action of an external force, the rotating cover (302) is suitable for rotating the insertion rod (303) to drive the control instrument and the execution instrument (304) to rotate.

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