Bendable endoscope holding forceps

Abstract

The invention provides bendable endoscope holding forceps. The bendable endoscope holding forceps comprise a handle, a lower shell, an upper shell, a shaft sleeve, a connecting sleeve, a chuck piece, a linkage piece, a bending piece, a rotating operation rod, a bending operation rod, a first opening and closing operation rod and a second opening and closing operation rod. The rotating operation rod and the bending operation rod are rotationally installed on the upper surface of the upper shell. The rotating operation rod controls the connecting sleeve through the linkage piece to drive the bending piece and the chuck piece to rotate, and the bending operation rod controls the bending piece through the linkage piece to drive the chuck piece to bend. The first opening and closing operation rod and the second opening and closing operation rod are rotationally installed on the lower surface of the lower shell and control opening and closing of the chuck piece through the linkage piece. Due to the integrated design of the linkage piece, rotation, bending and opening and closing actions are achieved through an independent operation rod, the structure is compact, labor division is clear, medical staff can complete multi-dimensional adjustment through visual rod body operation, and operation steps are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a bendable endoscope holding forceps. BACKGROUND

[0002] With the rapid development of minimally invasive surgical technology, laparoscopic surgery has been widely used in many surgical fields such as abdomen and pelvic cavity due to its advantages of small trauma, fast recovery and fewer postoperative complications. As the core instrument in laparoscopic surgery, endoscopic holding forceps are mainly used for operations such as foreign body clamping and tissue traction, and its performance directly affects the precision and efficiency of the operation.

[0003] The existing Chinese patent with publication number CN115068067B discloses a adjustable laparoscopic grabbing forceps, which includes a forceps head, a forceps rod and a forceps seat. The forceps seat is provided with an operating mechanism, and the operating mechanism includes a fixed handle, an operating handle and an adjusting knob. One end of an outer sleeve is connected with the operating handle, and the other end is connected with a first clamping jaw. One end of an inner rod is connected with the adjusting knob, and the other end is connected with a second clamping jaw. The knob body can be rotated alone, and the inner rod is driven to move axially to adjust the opening angle of the second clamping jaw through the meshing of the worm and the first rack. The operating handle can be operated alone to control the movement of the first clamping jaw relative to the second clamping jaw and clamp the second clamping jaw through the outer sleeve. The first clamping jaw and the second clamping jaw can be controlled separately through the operating handle and the second operating handle, thereby improving the grabbing precision of the adjustable laparoscopic grabbing forceps.

[0004] However, the adjustable laparoscopic grabbing forceps disclosed in CN115068067B and the traditional endoscopic holding forceps used in clinical practice have the following limitations: first, the adjustment flexibility is insufficient. Most holding forceps can only realize rotation around the rod shaft, which is difficult to adapt to the multi-angle position requirements of foreign bodies in complex surgical fields, especially when operating in deep lesions or narrow spaces. Blind areas are prone to occur during clamping. Second, the operation stability is poor. Most of the operating rods of existing instruments lack reliable angle limiting mechanisms, and the angle may deviate after adjustment due to external force or the weight of the instrument, causing the clamping head position to loosen and increasing the risk of intraoperative misoperation. Third, the operation convenience is insufficient. Some multifunctional holding forceps realize multi-dimensional adjustment through complex transmission structures, which not only increases the weight and size of the instrument, but also requires medical staff to frequently switch operation modes, which may cause hand fatigue and prolong the operation time. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a bendable endoscopic holding forceps.

[0006] According to the bendable endoscopic holding forceps provided by the present application, the handle, the lower shell, the upper shell, the shaft sleeve, the connecting sleeve, the clamping head, the linkage, the bending piece, the rotating operation rod, the bending operation rod, the first opening and closing operation rod and the second opening and closing operation rod are provided. The handle is connected to the lower housing, and the upper housing is connected to the lower housing; The bushing is fixed to the upper surface of the lower housing, and one end of the connecting sleeve is rotatably installed inside the bushing; the other end of the connecting sleeve is rotatably installed with the bending member, and the end of the bending member is rotatably installed with the clamping member; the linkage member is installed between the upper housing and the lower housing. The rotating operating lever and the bending operating lever are respectively rotatably mounted on the upper surface of the upper housing; the rotating operating lever controls the connection of the connecting sleeve through the linkage, driving the bending component and the chuck to rotate; the bending operating lever controls the bending component through the linkage to drive the chuck to bend. The first and second opening and closing operating levers are rotatably mounted on the lower surface of the lower housing, and the first and second opening and closing operating levers control the opening and closing of the clamping member through the linkage.

[0007] Preferably, the chuck component includes: a first chuck drive component, a second chuck drive component, a first chuck, and a second chuck; The first chuck driver and the second chuck driver are rotatably mounted on one end of the bent member. The first chuck is fixed on the first chuck driver and the second chuck is fixed on the second chuck driver. The first chuck and the second chuck cooperate to clamp.

[0008] Preferably, the first clamp and the second clamp are ring-shaped structures.

[0009] Preferably, the linkage assembly includes a first clamp sleeve, a first clamp wire cable, a first clamp first guide wheel assembly, a first clamp second guide wheel assembly, and a first clamp third guide wheel assembly; The first chuck sleeve is rotatably installed inside the lower housing and the upper housing, and the first chuck sleeve is fixed to the first opening and closing operating rod through the first chuck connecting shaft; the two ends of the first chuck steel wire cable are wound around the first chuck sleeve in opposite directions and fixed to the first chuck sleeve. The first clamp first wire guide wheel assembly is rotatably installed inside the lower housing and the upper housing; the first clamp second wire guide wheel assembly is rotatably installed at one end of the connecting sleeve; the first clamp third wire guide wheel assembly is rotatably installed on the side surface of the bending member; the first clamp wire cable passes sequentially through the first clamp first wire guide wheel assembly, the first clamp second wire guide wheel assembly and the first clamp third wire guide wheel assembly, then passes around the first clamp drive member in the middle, and then sequentially passes through the first clamp third wire guide wheel assembly, the first clamp second wire guide wheel assembly and the first clamp first wire guide wheel assembly; The first opening and closing operating lever drives the first chuck drive component to rotate through the first chuck sleeve, the first chuck wire cable, the first chuck first wire guide wheel group, the first chuck second wire guide wheel group and the first chuck third wire guide wheel group, thereby realizing the opening and closing of the first chuck with the first chuck driven component.

[0010] Preferably, the linkage assembly includes a second clamp sleeve, a second clamp wire cable, a second clamp first guide wheel assembly, a second clamp second guide wheel assembly, and a second clamp third guide wheel assembly; The second clamp sleeve is rotatably installed inside the lower housing and the upper housing, and the second clamp sleeve is fixed to the second opening and closing operating rod through the second clamp connecting shaft; the two ends of the second clamp steel wire cable are wound in opposite directions around the second clamp sleeve and fixed to the second clamp sleeve; The second clamp first wire guide wheel assembly is rotatably installed inside the lower housing and the upper housing; the second clamp second wire guide wheel assembly is rotatably installed at one end of the connecting sleeve; the second clamp third wire guide wheel assembly is rotatably installed on the bending member; the second clamp wire cable passes sequentially through the second clamp first wire guide wheel assembly, the second clamp second wire guide wheel assembly, and the second clamp third wire guide wheel assembly, then passes around the second clamp drive member in the middle, and then sequentially passes through the second clamp third wire guide wheel assembly, the second clamp second wire guide wheel assembly, and the second clamp first wire guide wheel assembly; The second opening and closing operating lever drives the second chuck drive component to rotate via the second chuck sleeve, the second chuck wire cable, the second chuck first wire guide wheel group, the second chuck second wire guide wheel group, and the second chuck third wire guide wheel group, thereby realizing the opening and closing of the second chuck with the second chuck driven component.

[0011] Preferably, the linkage assembly includes a rotating sleeve, a driven sleeve, and a rotating steel wire cable; The rotating sleeve is rotatably installed between the lower housing and the upper housing, and the rotating sleeve is fixedly connected to the rotating operating rod through a rotating connecting shaft; two rotating steel wire cables are wound in opposite directions around the rotating sleeve, and the ends of the rotating steel wire cables are fixed to the rotating sleeve; the driven sleeve is fixed to one end of the connecting sleeve located inside the lower housing and the upper housing, and two rotating steel wire cables are wound around the driven sleeve and fixed to the driven sleeve; When the rotary operating lever rotates, it causes the connecting sleeve to rotate within the bushing through the cooperation of the rotary sleeve, the rotary steel wire cable, and the driven sleeve.

[0012] Preferably, the linkage component includes a bending sleeve, a bending steel wire cable, a bending guide wheel, a bending component, and a bending drive component; The bending sleeve is rotatably installed inside the lower and upper housings. The bending sleeve is fixed to the bending operating rod via a bending connecting shaft. The two ends of the bending steel wire cable are wound in opposite directions around the bending sleeve and fixed thereto. The bending guide wheel assembly is rotatably installed inside the lower and upper housings. The bending drive component is installed on the rotating part of the bending component. The two ends of the bending steel wire cable pass through the bending guide wheel and then pass around the bending drive component in the middle. When the bending operating lever rotates, it causes the bending component to bend at the end of the connecting sleeve through the cooperation of the bending sleeve, bending steel wire cable, bending guide wheel and bending drive component.

[0013] Preferably, the rotating operating lever, the bending operating lever, the first opening and closing operating lever, and the second opening and closing operating lever are each provided with an adjustable angle rotation limiting mechanism.

[0014] Preferably, the rotation limiting mechanism includes a first toothed plate and a spring; The first toothed plate is mounted on the operating lever, and the housing has a corresponding toothed structure that cooperates with the first toothed plate. The spring is installed in the housing away from the first toothed plate. When the first toothed plate moves away from the corresponding toothed structure, the spring is compressed; the teeth of the first toothed plate and the corresponding toothed structure engage again under the action of the spring, and the first toothed plate and the corresponding toothed structure are locked together.

[0015] Preferably, the handle is integrally formed with the lower housing, and the lower housing is fixed to the upper housing by bolts.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention controls the rotation of the connecting sleeve and the bending of the bending component by using a rotating operating lever and a bending operating lever, respectively. The first and second opening and closing operating levers, in conjunction with the opening and closing adjustment of the chuck, enable the chuck to achieve multi-dimensional and wide-range angle adjustment, adapting to foreign body retrieval scenarios at different depths and angles in laparoscopic surgery, effectively reducing blind spots and improving adaptability to complex surgical fields. The integrated design of the linkage components allows the rotation, bending, and opening and closing actions to be achieved through independent operating levers, resulting in a compact structure and clear division of labor. Medical staff can complete multi-dimensional adjustments through intuitive lever operation, reducing operational steps. 2. This invention incorporates adjustable-angle rotational limiting mechanisms between the upper housing and the rotating and bending operating rods, as well as between the lower housing and the first and second opening and closing operating rods. These mechanisms allow for rapid locking and fixation after the operating rods are adjusted to the target angle, preventing angle shifts caused by instrument vibration or external force. This ensures the stability of the gripper's position during clamping, significantly improving operational accuracy and reducing the risk of intraoperative errors. The locking function of the limiting mechanisms eliminates the need for continuous force to maintain the angle, reducing hand fatigue and improving operational comfort during prolonged surgeries. 3. This invention, through the stable adjustment and fixation capabilities of the clamping device, combined with convenient operating logic, can shorten the operation time for foreign body retrieval, reduce the number of times the instrument needs to be adjusted inside the body, and reduce interference with surrounding tissues. This improves surgical efficiency, reduces the risk of postoperative complications, and further ensures patient safety. Attached Figure Description

[0017] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the lower three-dimensional structure of the bendable endoscope holding forceps of the present invention; Figure 2 This is a schematic diagram of the upper three-dimensional structure of the bendable endoscope holding forceps of the present invention; Figure 3 This is an exploded view of the main components of the bendable endoscope holding forceps of this invention; Figure 4 This is a schematic diagram illustrating the structure of the main locally linked components of the present invention; Figure 5 This is a schematic diagram illustrating the structure of the main linkage component and the clamping component of the present invention.

[0018] The figure shows: 1. Handle; 2. Lower housing; 3. Upper housing; 4. Bushing; 5. Connecting sleeve; 6. Chuck assembly; 61. First chuck; 62. First chuck drive assembly; 63. Second chuck; 64. Second chuck drive assembly; 7. Linkage assembly; 71. Rotating sleeve; 72. Driven sleeve; 73. Rotating wire cable; 74. Bending sleeve; 75. Bending wire cable; 76. Bending guide wheel; 77. Bending component; 78. Bending drive assembly; 79. First chuck sleeve; 80. First chuck steel... 81. First clamp first guide wheel assembly; 82. First clamp second guide wheel assembly; 83. First clamp third guide wheel assembly; 84. Second clamp sleeve; 85. Second clamp wire cable; 86. Second clamp first guide wheel assembly; 87. Second clamp second guide wheel assembly; 88. Second clamp third guide wheel assembly; 89. Rotating operating lever; 10. Bending operating lever; 11. First opening / closing operating lever; 12. Second opening / closing operating lever; 13. First toothed plate; 14. Corresponding toothed plate structure; 15. Spring. Detailed Implementation

[0019] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0020] like Figures 1 to 3 As shown, a bendable endoscope holding clamp provided by the present invention includes: a handle 1, a lower housing 2, an upper housing 3, a bushing 4, a connecting sleeve 5, a clamp 6, a linkage assembly 7, a bending component 77, a rotating operating lever 8, a bending operating lever 9, a first opening and closing operating lever 10, and a second opening and closing operating lever 11.

[0021] The handle 1 is connected to the lower housing 2, and the upper housing 3 is connected to the lower housing 2.

[0022] The bushing 4 is fixed to the upper surface of the lower housing 2. One end of the connecting sleeve 5 is rotatably installed inside the bushing 4, and the other end of the connecting sleeve extends away from the lower housing. A bending member 77 is rotatably installed at the other end of the connecting sleeve 5, and a clamping member 6 is rotatably installed on the bending member 77.

[0023] In a preferred embodiment, the rotation axis of the bending member 77 is perpendicular to the rotation axis of the chuck member 6. Establishing a three-dimensional coordinate system, if the extension direction of the connecting sleeve 5 is taken as the Y-axis, and the extension direction of the rotation axis of the chuck member 6's opening and closing action is taken as the Z-axis, then the plane where the chuck member 6's opening and closing action occurs is the X-axis plane; furthermore, the extension direction of the rotation axis of the bending member 77 is the X-axis direction, and the plane where the bending action of the bending member 77 occurs is the Z-axis plane; the extension direction of the rotation axis of the chuck member 6's rotation action is the Y-axis direction.

[0024] The linkage component 7 is installed between the upper housing 3 and the lower housing 2.

[0025] The rotating operating lever 8 and the bending operating lever 9 are rotatably mounted on the upper surface of the upper housing 3. The rotating operating lever 8 controls the rotation of the connecting sleeve 5 through the linkage assembly 7, which drives the bending part 77 and the chuck part 6 to rotate together. The bending operating lever 9 controls the bending part 77 to bend through the linkage assembly 7, thereby driving the chuck part 6 to bend.

[0026] The first opening and closing operating lever 10 and the second opening and closing operating lever 11 are respectively rotatably mounted on the lower surface of the lower housing 2. The first opening and closing operating lever 10 and the second opening and closing operating lever 11 control the opening and closing of the clamp 6 through the linkage assembly 7.

[0027] The linkage assembly 7 is installed between the lower housing 2 and the upper housing 3. The rotating operating rod 8 controls the rotation of the connecting sleeve 5 through the linkage assembly 7. The bending operating rod 9 controls the bending part 77 to bend through the linkage assembly 7. The first opening and closing operating rod 10 and the second opening and closing operating rod 11 control the opening and closing of the clamp 6 through the linkage assembly 7. At the same time, adjustable angle rotation limiting mechanisms are provided between the upper housing 3 and the rotating operating rod 8, between the upper housing 3 and the bending operating rod 9, between the lower housing 2 and the first opening and closing operating rod 10, and between the lower housing 2 and the second opening and closing operating rod 11. After the rotating operating rod 8, the bending operating rod 9, the first opening and closing operating rod 10 and the second opening and closing operating rod 11 are rotated, they are locked by the rotation limiting mechanisms. This makes it easy for the clamp 6 to be fixed after rotation, bending and opening and closing adjustment, so as to facilitate the operation of the clamp 6 to grasp foreign objects under laparoscopy.

[0028] The rotation of the connecting sleeve 5 and the bending of the bending component 77 are controlled by the rotation lever 8 and the bending lever 9, respectively. The first opening and closing lever 10 and the second opening and closing lever 11 work together to adjust the opening and closing of the clamp 6, so that the clamp 6 can achieve multi-dimensional and wide-range angle adjustment, which can adapt to foreign body retrieval scenarios of different depths and angles in laparoscopic surgery, effectively reduce blind spots and improve the adaptability to complex surgical fields.

[0029] The integrated design of the linkage component 7 enables rotation, bending, and opening / closing actions to be achieved through multiple independent operating levers. The structure is compact and the division of labor is clear. Medical staff can complete multi-dimensional adjustments through intuitive lever operation, reducing the number of operation steps.

[0030] The stable adjustment of the clamp 6, combined with convenient operating logic, can shorten the operation time for foreign body retrieval, reduce the number of times the instrument needs to be adjusted inside the body, and reduce interference with surrounding tissues. This improves surgical efficiency while reducing the risk of postoperative complications and further ensures patient safety.

[0031] like Figure 5 As shown, in some feasible embodiments, the chuck 6 includes a first chuck drive 62, a second chuck drive 64, a first chuck 61, and a second chuck 63.

[0032] The rotation axis of the first chuck drive 62 and the second chuck drive 64 extends in the Z-axis direction. The first chuck drive 62 and the second chuck drive 64 are rotatably mounted on the bending member 77. The first chuck drive 62 is fixed with a first chuck 61, and the second chuck drive 64 is fixed with a second chuck 63.

[0033] When the first chuck drive member 61 rotates clockwise, it causes the first chuck 61 to open; when the first chuck drive member 61 rotates counterclockwise, it causes the first chuck 61 to close. When the second chuck drive member 64 rotates counterclockwise, it causes the second chuck 63 to open; when the second chuck drive member 64 rotates clockwise, it causes the second chuck 63 to close.

[0034] The first clamp 61 and the second clamp 63 work together to hold the object, thus facilitating the clamping of the object by the clamping device 6 under laparoscopy.

[0035] The linkage component 7 includes a base, on which a first connecting shaft and a second connecting shaft are provided. The first connecting shaft is located near the side where the bending operation lever 9 and the first opening and closing operation lever 10 are located, and the second connecting shaft is located near the side where the rotating operation lever 8 and the second opening and closing operation lever 11 are located.

[0036] The first connecting shaft is fitted with a first clamp and a first guide wheel assembly 81 and a bent first guide wheel assembly 76; the second connecting shaft is fitted with a second clamp and a first guide wheel assembly 86.

[0037] like Figure 4 and Figure 5 As shown, in some feasible embodiments, the linkage component 7 includes a first clamp sleeve 79, a first clamp wire cable 80, a first clamp first guide wheel group 81, a first clamp second guide wheel group 82, and a first clamp third guide wheel group 83.

[0038] The lower housing 2 is provided with a through hole that allows the first chuck connecting shaft to pass through. One end of the first chuck connecting shaft is fixed to the first opening and closing operating rod 10, and the other end of the first chuck connecting shaft passes through the first opening and closing operating rod 10, the lower housing 2, and the first chuck sleeve 79 from bottom to top. The first opening and closing operating rod 10 and the first chuck sleeve 79 are respectively fixedly connected to the first chuck connecting shaft. The extension direction of the first chuck connecting shaft is the Z-axis direction. When the first opening and closing operating rod 10 drives the first chuck connecting shaft to rotate around the extension direction of the first chuck connecting shaft as the rotation axis, the rotation of the first chuck connecting shaft drives the first chuck sleeve 79 to rotate together.

[0039] In one feasible implementation, the first chuck connecting shaft is a screw.

[0040] The first chuck first guide wheel assembly 81 is rotatably sleeved on the first connecting shaft. The extension direction of the rotation axis of the first chuck first guide wheel assembly 81 is the Z-axis direction. The first chuck first guide wheel assembly 81 includes two independent first chuck first guide wheels arranged vertically.

[0041] A second wire guide connecting shaft is provided at the end of the connecting sleeve 5 away from the housing. The extension direction of the second wire guide connecting shaft is the X-axis direction. The first chuck second wire guide wheel assembly 82 includes two first chuck second wire guide wheels, which are independently and rotatably sleeved on the second wire guide connecting shaft.

[0042] The side surface of the bent part 77 is provided with a third wire guide shaft, the extension direction of the third wire guide shaft is the X-axis direction, the first chuck third wire guide wheel group 83 includes two first chuck third wire guide wheels, the two first chuck third wire guide wheels are independently and rotatably sleeved on the third wire guide shaft.

[0043] The rotation axis of the first chuck, the second guide wheel group 82, and the first chuck, the third guide wheel group 83 extends in the X-axis direction.

[0044] The first chuck drive 62 and the second chuck drive 64 are rotatably mounted on the end of the bent part 77 away from the connecting sleeve 5, and the extension direction of the rotation axis of the first chuck drive 62 and the second chuck drive 64 is the Z-axis direction.

[0045] Among them, the first clamp first wire guide wheel group 81, the first clamp second wire guide wheel group 82, and the first clamp third wire guide wheel group 83 all serve to guide the first clamp wire cable 80, so that the first clamp wire cable 80 can pass through the connecting sleeve 5 without rubbing against the wall surface of the connecting sleeve 5, and connect the first clamp sleeve 79 and the first clamp drive member 62, so that the first clamp sleeve 79 rotates and drives the first clamp drive member 62 to rotate.

[0046] The two ends of the first clamp steel wire cable 80 are wrapped around the first clamp sleeve 79 in opposite directions and fixed to the first clamp sleeve 79. Specifically, one end of the first clamp wire cable 80 is fixed outside the first clamp sleeve 79. Starting from this end, the first clamp wire cable 80 first winds around the first clamp sleeve 79, and then winds around in sequence to one of the first clamp wire guide wheels in the first clamp first wire guide wheel group 81, the middle part of the connecting sleeve 5, one of the first clamp second wire guide wheels in the first clamp second wire guide wheel group 82, one of the first clamp third wire guide wheels in the first clamp third wire guide wheel group 83, and after passing around the first clamp drive member 62 in the middle, it winds around in sequence to another first clamp third wire guide wheel in the first clamp third wire guide wheel group 83, the middle part of the connecting sleeve 5, another first clamp second wire guide wheel in the first clamp second wire guide wheel group 82, and another first clamp wire guide wheel in the first clamp first wire guide wheel group 81, and finally winds around the first clamp sleeve 79. That is, the other end of the first clamp steel wire cable 80 is also fixed outside the first clamp sleeve 79, with that end as the endpoint.

[0047] When the first chuck 61 of the chuck component 6 needs to be opened or closed, the first opening / closing operating lever 10 is rotated. The first opening / closing operating lever 10 drives the first chuck sleeve 79 to rotate together, and the first chuck wire cable 80 moves. After being supported and guided by the first chuck wire guide wheel group 81, the first chuck second wire guide wheel group 82 and the first chuck third wire guide wheel group 83, the first chuck wire cable 80 finally drives the first chuck driving component 62 to rotate, thereby driving the first chuck 61 to open or close.

[0048] like Figure 4 and Figure 5 As shown, in some feasible embodiments, the linkage assembly 7 further includes a second clamp sleeve 84, a second clamp wire cable 85, a second clamp first wire guide wheel group 86, a second clamp second wire guide wheel group 87, and a second clamp third wire guide wheel group 88.

[0049] The lower housing 2 is provided with a through hole that allows the second chuck connecting shaft to pass through. One end of the second chuck connecting shaft is fixed to the second opening and closing operating rod 11, and the other end of the second chuck connecting shaft passes through the second opening and closing operating rod 11, the lower housing 2, and the second chuck sleeve 84 from bottom to top. The second opening and closing operating rod 11 and the second chuck sleeve 84 are respectively fixedly connected to the second chuck connecting shaft. When the second opening and closing operating rod 11 drives the second chuck connecting shaft to rotate about the extension direction of the second chuck connecting shaft as the axis of rotation, the extension direction of the second chuck connecting shaft is the Z-axis direction. The rotation of the second chuck connecting shaft drives the first chuck sleeve 79 to rotate together.

[0050] In one feasible implementation, the second chuck connecting shaft is a screw.

[0051] The second chuck first guide wheel assembly 86 is rotatably sleeved on the second connecting shaft. The extension direction of the rotation axis of the second chuck first guide wheel assembly 86 is the Z-axis direction. The second chuck first guide wheel assembly 86 includes two independent second chuck first guide wheels arranged vertically.

[0052] The second chuck and second wire guide wheel assembly 87 is rotatably sleeved on the second wire guide connecting shaft. The second chuck and second wire guide wheel assembly 87 includes two independent second chuck and second wire guide wheels, which are located outside the first chuck and second wire guide wheel assembly 82.

[0053] The second chuck and third guide wheel assembly 88 is rotatably mounted on the third guide wheel connecting shaft. The second chuck and third guide wheel assembly 88 includes two independent second chuck and third guide wheels, which are located on the outside of the second chuck and third guide wheel assembly 88.

[0054] The rotation axis of the second chuck, the second guide wheel group 87, and the third guide wheel group 88 extends in the X-axis direction.

[0055] The rotation axes of the second chuck drive 64 and the first chuck drive 62 coincide.

[0056] Among them, the first wire guide wheel group 86, the second wire guide wheel group 87, and the third wire guide wheel group 88 of the second clamp all serve to guide the steel wire cable 85 of the second clamp, so that the steel wire cable 85 of the second clamp can pass through the connecting sleeve 5 without rubbing against the wall surface of the connecting sleeve 5, and connect the second clamp sleeve 84 and the second clamp driving member 64, so that the second clamp sleeve 84 rotates and drives the second clamp driving member 64 to rotate.

[0057] The two ends of the second clamp steel wire cable 85 are wrapped around the second clamp sleeve 84 in opposite directions and fixed to the second clamp sleeve 84. Specifically, one end of the second clamp wire cable 85 is fixed outside the second clamp sleeve 84. Starting from this end, the second clamp wire cable 85 first winds around the second clamp sleeve 84, and then winds around in sequence to one of the second clamp first wire guide wheels in the second clamp first wire guide wheel group 86, the middle of the connecting sleeve 5, one of the second clamp second wire guide wheels in the second clamp second wire guide wheel group 87, one of the second clamp second wire guide wheels in the second clamp third wire guide wheel group 88, and after passing around the second clamp drive member 64 in the middle, it winds around in sequence to another second clamp first wire guide wheel in the second clamp first wire guide wheel group 86, the middle of the connecting sleeve 5, another second clamp second wire guide wheel in the second clamp second wire guide wheel group 87, another second clamp second wire guide wheel in the second clamp third wire guide wheel group 88, and finally winds around the second clamp sleeve 84. That is, the other end of the second clamp steel wire cable 85 is also fixed outside the second clamp sleeve 84, with that end as the endpoint.

[0058] When the second chuck 63 of the chuck component 6 needs to be opened or closed, the second opening / closing operating lever 11 is rotated. The second opening / closing operating lever 11 drives the second chuck sleeve 84 to rotate together, and the second chuck wire cable 85 moves. After being supported and guided by the first wire guide wheel group 86, the second wire guide wheel group 87, and the third wire guide wheel group 88 of the second chuck, the second chuck driving component 64 is finally driven to rotate, thereby driving the second chuck 63 to open or close.

[0059] like Figure 4 and Figure 5 As shown, in some feasible embodiments, the linkage component 7 includes a rotating sleeve 71, a driven sleeve 72, and a rotating steel wire cable 73.

[0060] The upper housing 3 is provided with a through hole that allows the rotating connecting shaft to pass through. One end of the rotating connecting shaft is fixed to the rotating operating rod 8, and the other end of the rotating connecting shaft passes through the rotating operating rod 8, the upper housing 3, and the rotating sleeve 71 from top to bottom. The rotating operating rod 8 and the rotating sleeve 71 are respectively fixedly connected to the rotating connecting shaft. The extension direction of the rotating connecting shaft is the Z-axis direction. When the rotating operating rod 8 drives the rotating connecting shaft to rotate around the extension direction of the rotating connecting shaft as the rotation axis, the rotating connecting shaft drives the rotating sleeve 71 to rotate together.

[0061] In one feasible implementation, the rotating connecting shaft is a screw.

[0062] Driven sleeve 72 is fixed to the end of connecting sleeve 5 near the lower housing 2. The rotation axis of driven sleeve 72 is in the Y-axis direction.

[0063] One end of each of the two rotating steel wire cables 73 is wound around the outside of the rotating sleeve 71 in opposite directions, and this end of the rotating steel wire cable 73 is fixed to the rotating sleeve 71; the other ends of the two rotating steel wire cables 73 are wound around the outside of the driven sleeve 72 and fixed to the driven sleeve 72.

[0064] When the chuck 6 needs to be rotated, the rotating operating lever 8 is rotated. The rotating operating lever 8 drives the rotating sleeve 71 to rotate together. The rotating wire cable 73 moves and moves on the driven sleeve 72, driving the driven sleeve 72 to rotate. Thus, the connecting sleeve 5, which is fixed to the driven sleeve 73, rotates inside the bushing 4. The chuck 6 is installed at the end of the connecting sleeve 5 through the bending member 77, thereby realizing the rotation of the chuck 6.

[0065] like Figure 4 and Figure 5 As shown, in some feasible embodiments, the linkage component 7 includes a bending sleeve 74, a bending steel wire cable 75, a bending guide wheel assembly 76, a bending component 77, and a bending drive component 78.

[0066] The upper housing 3 is provided with a through hole that allows the bending connecting shaft to pass through. One end of the bending connecting shaft is fixed to the bending operating rod 9, and the other end of the bending connecting shaft passes through the bending operating rod 9, the upper housing 3, and the bending sleeve 74 from top to bottom. The bending sleeve 74 and the bending operating rod 9 are respectively fixedly connected to the bending connecting shaft. The extension direction of the bending connecting shaft is the Z-axis direction. When the bending operating rod 9 drives the bending connecting shaft to rotate around the extension direction of the bending connecting shaft as the axis of rotation, the rotation of the bending connecting shaft drives the bending sleeve 74 to rotate together.

[0067] In one feasible implementation, the bending connecting shaft is a screw.

[0068] The bending guide wheel assembly 76 and the first guide wheel assembly 81 of the first chuck share the same first connecting shaft. The bending guide wheel assembly 76 is rotatably sleeved on the first connecting shaft, and the two independent bending guide wheels in the bending guide wheel assembly 76 are located on both sides of the first guide wheel assembly 81 of the first chuck.

[0069] The bending guide wheel assembly 76 guides the bending steel wire cable 75, allowing it to pass through the connecting sleeve 5 without friction. It connects the bending sleeve 74 and the bending drive member 78, causing the bending sleeve 74 to rotate, which in turn drives the bending drive member 78 to rotate. In one feasible embodiment, the rotation axis of the bending drive member 78 extends in the X-axis direction.

[0070] The bending component 77 is mounted on the bending drive component 78. When the bending drive component 78 rotates, the bending component 77 is driven by the bending drive component 78 to move in the Z-axis direction.

[0071] Both ends of the bent wire cable 75 are wound in opposite directions around the bent sleeve 74 and fixed to the bent sleeve 74. Specifically, one end of the bent wire cable 75 is fixed to the outside of the bent sleeve 74. Starting from this section, the bent wire cable 75 first winds around the bent sleeve 74, then winds around to one of the bent guide rollers in the bent guide roller group 76, passes around the bending drive member 78 in the middle, and then winds around to another bent guide roller in the bent guide roller group 76. Finally, it winds around the bent sleeve 74. That is, the other end of the bent wire cable 75 is also fixed to the outside of the bent sleeve 74, with this end as the terminal.

[0072] When it is necessary to bend the clamp 6, rotate the bending operating lever 9. The bending operating lever 9 drives the bending sleeve 74 to rotate together, and the bending wire cable 75 moves. After the bending wire cable 75 is supported and guided by the bending guide wheel 76, it finally drives the bending drive 78 to rotate, thereby driving the bending part 77 to bend.

[0073] like Figure 3As shown, in some feasible embodiments, the rotating operating lever 8, the bending operating lever 9, the first opening and closing operating lever 10, and the second opening and closing operating lever 11 are all limited by a rotating limiting mechanism. The rotating limiting structure of the first opening and closing operating lever 10 will be used as an example for explanation.

[0074] The rotation limiting mechanism includes a first toothed plate 12 and a spring 14; the first toothed plate 12 is provided on the first opening and closing operating rod 10, and the first toothed plate 12 cooperates with the corresponding toothed structure 13 opened on the lower housing 2.

[0075] The first chuck connecting shaft is inserted into the first opening and closing operating rod 10, and passes sequentially through the first opening and closing operating rod 10, the lower housing 2, the first chuck sleeve 79, the spring 14, and the groove opened on the upper surface of the upper housing 3.

[0076] The upper end of the first chuck sleeve 79 is fitted with a spring 14 through the first chuck connecting shaft, and the first chuck connecting shaft fixes the spring 14 in the groove opened in the upper housing 3.

[0077] When the first opening and closing operating lever 10 is rotated outward, the bottom of the spring 14 abuts against the inner wall of the groove opened in the upper housing 3 and remains stationary. The first chuck connecting shaft moves downward, and the top of the spring 14, which is fixedly connected to the first chuck connecting shaft, moves downward, compressing the spring 14.

[0078] When the first toothed plate 12 on the first opening and closing operating lever 10 rotates to the desired position relative to the corresponding toothed structure 13 on the lower housing 2, that is, when the first opening and closing operating lever 10 drives the chuck 6 to open and close to the desired angle.

[0079] The pressure on the first opening and closing operating lever 10 is released, and the compressed spring causes the first toothed plate 12 on the first opening and closing operating lever 10 to rebound. The first toothed plate 12 on the first opening and closing operating lever 10 and the corresponding toothed plate structure 13 on the lower housing 2 cooperate again under the action of the spring 14, so as to lock the first toothed plate 12 on the first opening and closing operating lever 10 and the corresponding toothed plate structure 13 on the lower housing 2.

[0080] The rotating operating lever 8, bending operating lever 9, first opening / closing operating lever 10, and second opening / closing operating lever 11 are all equipped with adjustable-angle rotating limiting mechanisms. These mechanisms allow for quick locking and fixation after the operating levers are adjusted to the target angle, preventing angle deviation caused by instrument vibration or external force. This ensures the stability of the clamp during gripping, significantly improving operational accuracy and reducing the risk of intraoperative errors. The locking function of the limiting mechanisms eliminates the need for continuous force to maintain the angle, reducing hand fatigue and improving operational comfort during prolonged surgeries.

[0081] like Figure 5As shown, in some feasible embodiments, the first clamp 61 and the second clamp 63 are ring-shaped structures. This facilitates observation by the laparoscope through the ring structure of the first clamp 61 and the second clamp 63, and avoids the first clamp 61 and the second clamp 63 obstructing the laparoscope's view.

[0082] In some feasible implementations, the handle 1 is integrally formed with the lower housing 2, and the lower housing 2 is fixed to the upper housing 3 by bolts. The entire bendable endoscope grip is an integrated structure, which facilitates handling and operation.

[0083] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0084] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A bendable endoscope holding forceps, characterized in that, include: Handle (1), lower housing (2), upper housing (3), bushing (4), connecting sleeve (5), chuck (6), linkage (7), bending (77), rotating operating lever (8), bending operating lever (9), first opening and closing operating lever (10) and second opening and closing operating lever (11); The handle (1) is connected to the lower housing (2), and the upper housing (3) is connected to the lower housing (2); The bushing (4) is fixed to the upper surface of the lower housing (2), and one end of the connecting sleeve (5) is rotatably installed inside the bushing (4); the other end of the connecting sleeve (5) is rotatably installed with the bending member (77), and the end of the bending member (77) is rotatably installed with the clamping member (6); the linkage member (7) is installed between the upper housing (3) and the lower housing (2); The rotating operating lever (8) and the bending operating lever (9) are respectively rotatably mounted on the upper surface of the upper housing (3); the rotating operating lever (8) controls the connection of the connecting sleeve (5) through the linkage (7), driving the bending component (77) and the clamp (6) to rotate; the bending operating lever (9) controls the bending component (77) through the linkage (7) to drive the clamp (6) to bend. The first opening and closing operating lever (10) and the second opening and closing operating lever (11) are rotatably mounted on the lower surface of the lower housing (2). The first opening and closing operating lever (10) and the second opening and closing operating lever (11) control the opening and closing of the clamp (6) through the linkage (7).

2. The bendable endoscope holding forceps as described in claim 1, characterized in that, The chuck (6) includes: a first chuck drive (62), a second chuck drive (64), a first chuck (61), and a second chuck (63); The first chuck drive (62) and the second chuck drive (64) are rotatably mounted on one end of the bent part (77). The first chuck (61) is fixed on the first chuck drive (62), and the second chuck (63) is fixed on the second chuck drive (64). The first chuck (61) and the second chuck (63) cooperate to clamp.

3. The bendable endoscope holding forceps as described in claim 2, characterized in that, The first chuck (61) and the second chuck (63) are ring structures.

4. The bendable endoscope holding forceps as described in claim 2, characterized in that, The linkage assembly (7) includes a first clamp sleeve (79), a first clamp wire cable (80), a first clamp first wire guide wheel group (81), a first clamp second wire guide wheel group (82), and a first clamp third wire guide wheel group (83). The first chuck sleeve (79) is rotatably installed inside the lower housing (2) and the upper housing (3), and the first chuck sleeve (79) and the first opening and closing operating rod (10) are fixed by the first chuck connecting shaft; the two ends of the first chuck wire cable (80) are wound around the first chuck sleeve (79) in opposite directions and fixed to the first chuck sleeve (79); The first clamp first wire guide wheel assembly (81) is rotatably installed inside the lower housing (2) and the upper housing (3); the first clamp second wire guide wheel assembly (82) is rotatably installed at one end of the connecting sleeve (5); the first clamp third wire guide wheel assembly (83) is rotatably installed on the side surface of the bending member (77); the first clamp wire cable (80) passes through the first clamp first wire guide wheel assembly (81), the first clamp second wire guide wheel assembly (82) and the first clamp third wire guide wheel assembly (83) in sequence, then passes around the first clamp drive member (62) in the middle, and then passes through the first clamp third wire guide wheel assembly (83), the first clamp second wire guide wheel assembly (82) and the first clamp first wire guide wheel assembly (81) in sequence. The first opening and closing operating lever (10) drives the first chuck drive member (62) to rotate through the first chuck sleeve (79), the first chuck wire cable (80), the first chuck first wire guide wheel group (81), the first chuck second wire guide wheel group (82) and the first chuck third wire guide wheel group (83), so that the first chuck drive member (62) opens and closes with the first chuck (61).

5. The bendable endoscope holding forceps as described in claim 2, characterized in that, The linkage assembly (7) includes a second clamp sleeve (84), a second clamp wire cable (85), a second clamp first wire guide wheel assembly (86), a second clamp second wire guide wheel assembly (87), and a second clamp third wire guide wheel assembly (88). The second chuck sleeve (84) is rotatably installed inside the lower housing (2) and the upper housing (3). The second chuck sleeve (84) and the second opening and closing operating rod (11) are fixed by the second chuck connecting shaft. The two ends of the second chuck wire cable (85) are wound around the second chuck sleeve (84) in opposite directions and fixed to the second chuck sleeve (84). The second clamp first wire guide wheel assembly (86) is rotatably installed inside the lower housing (2) and the upper housing (3); the second clamp second wire guide wheel assembly (87) is rotatably installed at one end of the connecting sleeve (5); the second clamp third wire guide wheel assembly (88) is rotatably installed on the bending member (77); the second clamp wire cable (85) passes through the second clamp first wire guide wheel assembly (86), the second clamp second wire guide wheel assembly (87) and the second clamp third wire guide wheel assembly (88) in sequence, then passes around the second clamp drive member (64) in the middle, and then passes through the second clamp third wire guide wheel assembly (88), the second clamp second wire guide wheel assembly (87) and the second clamp first wire guide wheel assembly (86) in sequence. The second opening and closing operating lever (11) drives the second chuck drive member (64) to rotate through the second chuck sleeve (84), the second chuck wire cable (85), the second chuck first wire guide wheel group (86), the second chuck second wire guide wheel group (87), and the second chuck third wire guide wheel group (88), thereby realizing the opening and closing of the second chuck drive member (64) with the second chuck (63).

6. The bendable endoscope holding forceps as described in claim 1, characterized in that, The linkage component (7) includes a rotating sleeve (71), a driven sleeve (72), and a rotating steel wire cable (73). The rotating sleeve (71) is rotatably installed between the lower housing (2) and the upper housing (3). The rotating sleeve (71) is fixedly connected to the rotating operating rod (8) through a rotating connecting shaft. The two rotating steel wire cables (73) are wound around the rotating sleeve (71) in opposite directions. The ends of the rotating steel wire cables (73) are fixed to the rotating sleeve (71). The driven sleeve (72) is fixed to one end of the connecting sleeve (5) located inside the lower housing (2) and the upper housing (3). The two rotating steel wire cables (73) are wound around the driven sleeve (72) and fixed to the driven sleeve (72). When the rotating operating lever (8) rotates, it carries the connecting sleeve (5) to rotate within the bushing (4) through the cooperation of the rotating sleeve (71), the rotating steel wire cable (73) and the driven sleeve (72).

7. The bendable endoscope holding forceps as described in claim 1, characterized in that, The linkage component (7) includes a bending sleeve (74), a bending steel wire cable (75), a bending guide wheel (76), a bending component (77), and a bending drive component (78). The bending sleeve (74) is rotatably installed inside the lower housing (2) and the upper housing (3). The bending sleeve (74) is fixed to the bending operating rod (9) through a bending connecting shaft. The two ends of the bending wire cable (75) are wrapped around the bending sleeve (74) in opposite directions and fixed to the bending sleeve (74). The bending guide wheel assembly (76) is rotatably installed inside the lower housing (2) and the upper housing (3). The bending drive (78) is installed on the rotating part of the bending component (77). The two ends of the bending wire cable (75) pass through the bending guide wheel (76) and then the middle part passes around the bending drive (78). When the bending operating lever (9) rotates, it works in conjunction with the bending sleeve (74), bending wire cable (75), bending guide wheel (76) and bending drive (78) to bend the bending component (77) at the end of the connecting sleeve (5).

8. The bendable endoscope holding forceps as described in claim 1, characterized in that, The rotating operating lever (8), bending operating lever (9), first opening and closing operating lever (10), and second opening and closing operating lever (11) are each equipped with an adjustable angle rotation limit mechanism.

9. The bendable endoscope holding forceps as described in claim 8, characterized in that, The rotation limiting mechanism includes a first toothed plate (12) and a spring (14); The first toothed plate (12) is mounted on the operating lever, and the housing has a corresponding toothed structure (13) that cooperates with the first toothed plate (12). The spring (14) is installed in the housing away from the first toothed plate (12). When the first toothed plate (12) moves away from the corresponding toothed structure (13), the spring (14) is compressed; the teeth of the first toothed plate (12) and the corresponding toothed structure (13) engage again under the action of the spring (14), and the first toothed plate (12) and the corresponding toothed structure (13) are locked together.

10. The bendable endoscope holding forceps as described in claim 1, characterized in that, The handle (1) is integrally formed with the lower housing (2), and the lower housing (2) is fixed to the upper housing (3) by bolts.

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