Needle holder for laparoscope

Abstract

The needle holder comprises a needle holder body, the needle holder body comprises a needle holder needle tube and a needle holder chuck, the tail end of a chuck part of the needle holder chuck is in transmission connection with a chuck rotating motor, and a chuck universal ball is slidably clamped in an opening in the chuck end of the needle holder needle tube; an adjusting universal ball is clamped in an opening of the holding end of the needle holder needle tube in a sliding mode, a driving pull wire is connected between the opposite point positions of the chuck universal ball and the adjusting universal ball, the chuck universal ball is in synchronous linkage with the adjusting universal ball through the driving pull wire, the chuck universal ball is connected with a chuck rotating motor, and the chuck universal ball drives the chuck component to rotate. The transmission mechanism composed of the chuck universal ball and the adjusting universal ball which are in linkage through the driving pull wire is adopted, the chuck universal ball connected with the chuck part is driven to rotate by controlling the adjusting universal ball, the chuck rotating motor is used for driving the chuck part to rotate, and the chuck rotating mechanism has the advantages of being convenient and fast to operate, efficient, simple and reliable in mechanism, low in manufacturing, using and maintaining cost and the like.

Description

Technical Field

[0001] This invention relates to a needle holder for laparoscopic surgery, and more particularly to a laparoscopic needle holder that can rotate flexibly at multiple angles, belonging to the field of needle holders. Background Technology

[0002] Laparoscopic surgery involves making several small incisions in different parts of the patient's abdomen. Cameras and various specialized surgical instruments are inserted through these incisions. The cameras transmit images of the various organs inside the abdominal cavity to a special surgical screen. The surgeon observes the images displayed on the screen and manipulates the surgical instruments outside the patient's body to complete the internal surgery. Therefore, laparoscopic surgery has the following characteristics: (1) minimal surgical trauma; (2) rapid postoperative recovery; (3) short hospital stay; (4) less postoperative pain; (5) smaller incision scars; and (6) better treatment outcomes. A needle holder is a medical device used in surgery to hold and suture needles. It is made of medical-grade stainless steel and is widely used in general surgery and microsurgery. Laparoscopic needle holders, due to the special application environment, must possess many functions not found in ordinary needle holders.

[0003] Some existing laparoscopic needle holders still use ordinary needle holders. These holders have an integrated clamp, and the operating angle cannot be adjusted after picking up the needle. The suturing angle is adjusted only by the surgeon's wrist and arm movements. Due to the limited operating space in laparoscopic surgery, this results in increased difficulty, time and effort, and low suturing efficiency, raising the bar for laparoscopic suturing procedures. To address these issues, those skilled in the art have made targeted improvements. One approach utilizes a complex transmission mechanism to control the rotation of the needle holder's clamping end through a simple gripping motion of the palm. However, this relatively complex transmission mechanism is prone to transmission failure within the confined space of the needle-shaped cavity, and it also increases the precision of components, leading to high production, usage, and maintenance costs. Further design improvements are necessary to address these problems. Summary of the Invention

[0004] This invention discloses a novel solution for a laparoscopic needle holder. It employs a transmission mechanism consisting of a clamp universal ball and an adjusting universal ball, which are linked by a drive cable. By controlling the adjusting universal ball, the clamp universal ball connected to the clamp component is driven to rotate. The clamp component is then driven to rotate by a clamp rotation motor. This solution solves the problems of existing similar products that use an integrated clamp component, which cannot flexibly adjust the suture angle of the clamp component. It also addresses the issues of high operational difficulty, low efficiency, time and labor costs, high instrument failure rate, and high manufacturing, use, and maintenance costs caused by using a complex transmission mechanism to rotate the clamp component.

[0005] The laparoscopic needle holder of the present invention includes a needle holder body, which includes a needle holder tube and a needle holder clamp. The needle holder clamp includes a clamp component, the tail end of which is connected to a clamp rotation motor. The clamp rotation motor drives the clamp component to rotate. A clamp universal ball is slidably engaged in the clamp end opening of the needle holder tube, and an adjusting universal ball is slidably engaged in the gripping end opening of the needle holder tube. A drive cable is connected between the relative points of the spherical surfaces of the clamp universal ball located inside the needle holder tube and the spherical surfaces of the adjusting universal ball located inside the needle holder tube. The clamp universal ball is synchronously linked with the adjusting universal ball through the drive cable. The spherical surface of the clamp universal ball located outside the needle holder tube is connected to the clamp rotation motor, and the clamp universal ball drives the clamp component to rotate.

[0006] Furthermore, in this solution, a universal ball locking component is also provided in the chuck end opening of the needle holder tube surrounding the universal ball of the chuck. The universal ball locking component includes a locking rubber ring surrounding the universal ball of the chuck. The inner diameter of the locking rubber ring is smaller than the outer diameter of the universal ball of the chuck. A rubber ring permanent magnet is provided on one side of the locking rubber ring. A locking trigger electromagnetic block is provided in the needle holder tube on the side opposite to the rubber ring permanent magnet. The locking trigger electromagnetic block and the rubber ring permanent magnet are connected or separated by electromagnetic force.

[0007] Furthermore, the needle holder tube of this solution has an outer locking ring inside the clamping end opening and an inner locking ring inside the clamping end opening. A locking rubber ring is provided between the outer locking ring and the inner locking ring, and a locking trigger electromagnetic block is embedded in the inner locking ring.

[0008] Furthermore, in this design, the inner ring end face of the snap-fit ​​outer ring armor is provided with an outer ring groove armor, the outer ring groove armor contains a ball outer ring groove armor, and the ball outer ring groove armor contains multiple sliding ball armors. The inner ring end face of the snap-fit ​​inner ring armor is provided with an inner ring groove armor, the inner ring groove armor contains a ball inner ring groove armor, and the ball inner ring groove armor contains multiple sliding ball armors. The sliding ball armors and the universal ball joint of the chuck form a limiting rolling snap-fit.

[0009] Furthermore, the outer ring end face of the locking rubber ring in this design is provided with a dovetail slider, which forms a guide sliding connection with the dovetail groove extending axially on the inner side of the needle holder tube that engages the outer ring and the inner ring.

[0010] Furthermore, the chuck component of this solution includes a chuck base plate. The center of the back of the chuck base plate is connected to the output shaft of the chuck rotary motor. One end of the chuck base plate is connected to chuck A, and the other end of the chuck base plate forms a sliding guide connection with chuck B. Chuck A is provided with a clamping trigger electromagnetic block, and chuck B is provided with a chuck permanent magnet block. The clamping trigger electromagnetic block and the chuck permanent magnet block are connected or separated by electromagnetic force.

[0011] Furthermore, the needle holder of this solution is also equipped with a needle holder handle at the holding end of the needle tube. The needle holder handle contains a clamp control circuit board and a needle holder battery. The clamp control circuit board is electrically connected to the needle holder battery. The clamp control circuit board includes a motor control circuit, a locking control circuit, and a clamping control circuit. The motor control circuit is electrically connected to the clamp rotation motor. The locking control circuit is electrically connected to the locking trigger electromagnetic block. The clamping control circuit is electrically connected to the clamping trigger electromagnetic block.

[0012] Furthermore, the needle holder grip of this design has a locking control button, a clamping control button, a motor forward rotation button, and a motor reverse rotation button on the inner side of the outer grip. The locking control button is electrically connected to the locking control circuit, and the locking control circuit is triggered by the locking control button to switch the electrode of the locking trigger electromagnetic block. The clamping control button is electrically connected to the clamping control circuit, and the clamping control circuit is triggered by the clamping control button to switch the electrode of the clamping trigger electromagnetic block. The motor forward rotation button and the motor reverse rotation button are electrically connected to the motor control circuit, and the motor control circuit is triggered by the motor forward rotation button and the motor reverse rotation button to switch the rotation direction of the output shaft of the chuck rotation motor.

[0013] Furthermore, in this design, the needle holder tube has a locking outer ring B inside the opening of its holding end, and a locking inner ring B inside the opening of its holding end. The inner ring end face of the locking outer ring B has an outer ring groove B, and the outer ring groove B has a ball outer ring groove B. The ball outer ring groove B has multiple sliding balls B inside. The inner ring end face of the locking inner ring B has an inner ring groove B, and the inner ring groove B has a ball inner ring groove B. The ball inner ring groove B has multiple sliding balls B inside. The sliding balls B and the adjusting universal ball form a limiting rolling locking engagement.

[0014] Furthermore, the adjustable universal ball of this solution has an adjusting protrusion on the spherical surface outside the needle tube of the needle holder. The bearing surface of the adjusting protrusion has a fingertip groove, and the bottom arc surface of the fingertip groove is densely covered with anti-slip texture.

[0015] This invention relates to a laparoscopic needle holder, which employs a transmission mechanism consisting of a chuck universal ball and an adjusting universal ball linked by a drive cable. By controlling the adjusting universal ball to drive the rotation of the chuck universal ball connected to the chuck component, and utilizing a chuck rotary motor to drive the chuck component to rotate, the clamping angle of the chuck component can be flexibly adjusted. This overcomes the problems of existing similar products that use an integrated chuck component, which cannot flexibly adjust the suture operation angle, resulting in difficult suture operations, low efficiency, and time and labor costs. It also improves the problems of high instrument failure rate and high production, use, and maintenance costs caused by using a complex transmission mechanism to achieve chuck component rotation. It features convenient and efficient operation, a simplified and reliable mechanism, and reduced manufacturing, use, and maintenance costs. Attached Figure Description

[0016] Figure 1This is a front view schematic diagram of a needle holder for laparoscopy.

[0017] Figure 2 This is a schematic diagram of the front sectional view of a needle holder for laparoscopy.

[0018] Figure 3 This is a partial cross-sectional magnified schematic diagram of the front end of the needle holder used in laparoscopy.

[0019] Figure 4 yes Figure 3 Enlarged schematic diagram of part A in the middle.

[0020] Figure 5 yes Figure 4 A schematic diagram of the center universal ball locking component in the locked state.

[0021] Figure 6 This is a partially enlarged cross-sectional view of the rear end of the needle holder used in laparoscopy.

[0022] Figure 7 yes Figure 6 Enlarged schematic diagram of section B.

[0023] in,

[0024] 100 is the needle holder tube, and 101 is the dovetail groove.

[0025] 200 is the needle holder chuck, 201 is the chuck component, 210 is the chuck base plate, 220 is chuck A, 221 is the clamping trigger electromagnetic block, 230 is chuck B, and 231 is the chuck permanent magnet block.

[0026] 300 is a chuck rotary motor.

[0027] 410 is the chuck ball joint, 420 is the adjusting ball joint, 430 is the adjusting cam, 431 refers to the groove, and 440 is the drive cable.

[0028] 500 is the universal ball locking component, 511 is the locking rubber ring, 512 is the rubber ring permanent magnet block, and 520 is the locking trigger electromagnetic block.

[0029] 601 is sliding ball A, 602 is sliding ball B, 610 is snap-fit ​​outer ring A, 620 is snap-fit ​​inner ring A, 630 is snap-fit ​​outer ring B, and 640 is snap-fit ​​inner ring B.

[0030] 700 is the needle holder grip, 701 is the chuck control circuit board, 702 is the needle holder battery, 711 is the locking control button, 712 is the clamping control button, 713 is the motor forward rotation button, and 714 is the motor reverse rotation button. Detailed Implementation

[0031] The following is a detailed explanation with reference to the attached diagram.

[0032] like Figure 1 , 2 As shown in Figure 3, the laparoscopic needle holder of the present invention includes a needle holder body, which includes a needle holder tube 100 and a needle holder clamp 200. The needle holder clamp 200 includes a clamp component 201, the tail end of which is connected to a clamp rotation motor 300. The clamp rotation motor 300 drives the clamp component 201 to rotate. A clamp universal ball 410 is slidably engaged in the clamp end opening of the needle holder tube 100, and a slidably engaged in the holding end opening of the needle holder tube 100 is also present. There is an adjustable universal ball 420. A drive cable 440 is provided between the spherical surface of the chuck universal ball 410 located inside the needle holder tube 100 and the spherical surface of the adjustable universal ball 420 located inside the needle holder tube 100. The chuck universal ball 410 is synchronously linked with the adjustable universal ball 420 through the drive cable 440. The spherical surface of the chuck universal ball 410 located outside the needle holder tube 100 is connected to the chuck rotation motor 300. The chuck universal ball 410 drives the chuck component 201 to rotate.

[0033] The above solution employs a transmission mechanism consisting of a chuck ball joint 410 and an adjusting ball joint 420, linked by a drive cable 440. The adjusting ball joint 420 drives the chuck ball joint 410 connected to the chuck component 201 to rotate. Specifically, the adjusting ball joint 420 rotates around its own center, thereby generating a torque relative to the center of the chuck ball joint 410 on the drive cable 440. This torque drags the chuck ball joint 410 to rotate synchronously with the adjusting ball joint 420 around its own center. The drive cable 440 can be made of materials such as steel wire that are not easily stretched or deformed. The chuck rotation motor 300 drives the chuck component 201 to rotate, thus achieving flexible adjustment of the clamping angle of the chuck component 201 with multiple degrees of freedom. Therefore, this solution overcomes the problems of existing similar products that use an integrated clamp component, which cannot flexibly adjust the suturing angle, resulting in difficult, inefficient, time-consuming, and labor-intensive suturing operations. In practice, the operator only needs to use their fingers to control the rotation of the universal ball 420, while simultaneously controlling the forward or reverse output of the clamp rotation motor 300 to achieve the aforementioned technical effect. This solution also improves upon the problems of high instrument failure rates and high production, use, and maintenance costs caused by the complex transmission mechanism used in existing similar products to rotate the clamp component. The transmission method is simple and reliable, featuring convenient and efficient operation, a streamlined and reliable mechanism, and reduced manufacturing, use, and maintenance costs.

[0034] Based on the above solution, after adjusting the operating angle of the clamp component 201, a suturing operation is usually required. However, the adjusted clamp component 201 often slips relative to the suturing operation, thus failing to maintain the adjusted operating angle. To position the adjusted clamp component 201 and meet the requirements of needle position stability during suturing, this solution also discloses a locking component for the clamp universal ball 410. Figure 3 , 4 As shown in Figure 5, in this design, a universal ball locking component 500 is also provided inside the chuck end opening of the needle holder tube 100 surrounding the universal ball 410 of the chuck. The universal ball locking component 500 includes a locking rubber ring 511 surrounding the universal ball 410. The inner diameter of the locking rubber ring 511 is smaller than the outer diameter of the universal ball 410. A rubber ring permanent magnet block 512 is provided on one side of the locking rubber ring 511. A locking trigger electromagnetic block 520 is provided in the needle holder tube 100 on the side opposite to the rubber ring permanent magnet block 512. The locking trigger electromagnetic block 520 and the rubber ring permanent magnet block 512 are connected or separated by electromagnetic force. Figure 4 This shows the state in which the locking trigger electromagnetic block 520 and the rubber ring permanent magnet block 512 are separated by electromagnetic force. Figure 5 The image shows the state in which the locking trigger electromagnetic block 520 and the rubber ring permanent magnet block 512 are connected by electromagnetic force.

[0035] When the locking trigger solenoid 520 is powered on, it will form a polarity that is either the same or different from that of the rubber ring permanent magnet 512. When the polarities of the locking trigger solenoid 520 and the rubber ring permanent magnet 512 are different, the rubber ring permanent magnet 512 drives the locking rubber ring 511 to move along the axial direction of the needle tube 100 of the needle holder and attracts and connects with the locking trigger solenoid 520. At this time, since the inner diameter of the locking rubber ring 511 is smaller than the outer diameter of the chuck universal ball 410, the inner ring end of the locking rubber ring 511 is pressed and contacted with the spherical surface of the chuck universal ball 410, thereby achieving the technical purpose of locking the chuck universal ball 410 and preventing it from rotating and sliding. When the polarities of the locking trigger solenoid 520 and the rubber ring permanent magnet 512 are the same, the locking trigger solenoid 520 repels the rubber ring permanent magnet 512, thereby pushing the locking rubber ring 511 away from the position of locking the chuck universal ball 410, thus facilitating the adjustment of the operating angle of the chuck component 201. By repeating the polarity switching operation of the locking trigger solenoid 520, the technical purpose of locking or releasing the chuck ball 410 can be achieved.

[0036] To achieve sliding engagement between the chuck ball joint 410 and the chuck end opening of the needle holder tube 100, thereby improving the stability of the engagement and limiting, and enhancing the operational stability of the ball joint locking component 500, this solution also discloses a specific structural method. For example... Figure 3 , 4As shown in Figure 5, the needle holder tube 100 of this design has an outer snap-fit ​​ring 610 inside the chuck end opening and an inner snap-fit ​​ring 620 inside the chuck end opening. A locking rubber ring 511 is provided between the outer snap-fit ​​ring 610 and the inner snap-fit ​​ring 620, and a locking trigger electromagnetic block 520 is embedded in the inner snap-fit ​​ring 620. The outer snap-fit ​​ring 610 and the inner snap-fit ​​ring 620 are respectively located at the front and rear ends of the chuck universal ball 410, thereby clamping and limiting the chuck universal ball 410 from both sides, preventing the chuck universal ball 410 from moving back and forth along the axial direction, and also limiting the movement space of the locking rubber ring 511, and fixing the installation position of the locking trigger electromagnetic block 520, thereby improving the stability of the snap-fit ​​limiting and the working stability of the universal ball locking component 500.

[0037] Based on the above solution, in order to reduce the resistance of the chuck universal ball 410 and the chuck end opening of the needle holder tube 100, that is, the sliding engagement resistance of the outer ring armor 610 and the inner ring armor 620, improve operating efficiency, and reduce operating difficulty, such as Figure 4 , 5 As shown, the outer ring 610 of this design has an outer ring groove on its inner ring end face, a ball outer ring groove inside the outer ring groove, and multiple sliding ball plates 601 inside the ball outer ring groove. The inner ring 620 has an inner ring groove on its inner ring end face, a ball inner ring groove inside the inner ring groove, and multiple sliding ball plates 601 inside the ball inner ring groove. The sliding ball plates 601 form a limiting rolling engagement with the chuck ball 410. Through the limiting rolling engagement formed by the sliding ball plates 601 and the chuck ball 410, the limiting engagement between the chuck ball 410 and the outer ring 610 and the inner ring 620 is transformed into a rolling limiting connection between the balls. This satisfies the requirements of the limiting engagement, reduces the friction generated by the engagement, improves the efficiency of operation, and reduces the difficulty of operation.

[0038] To ensure the smooth operation of the locking rubber ring 511 and prevent locking failure, such as Figure 4 , 5 As shown, the locking rubber ring 511 of this design has a dovetail slider on its outer ring end face. The dovetail slider forms a guide sliding connection with the dovetail groove 101 extending axially on the inner side of the needle holder tube 100 that engages the outer ring 610 and the inner ring 620. The guide sliding cooperation formed by the dovetail slider and the dovetail groove 101 makes the engagement and disengagement between the locking rubber ring 511 and the locking trigger electromagnetic block 520 smoother, avoiding the locking failure caused by radial deformation of the locking rubber ring 511, and improving the operating efficiency of the universal ball locking component 500.

[0039] To achieve the function of the chuck component 201, this solution also discloses a specific chuck mechanism, such as... Figure 2 ,3 As shown, the chuck component 201 includes a chuck base plate 210. The center of the back side of the chuck base plate 210 is connected to the output shaft of the chuck rotary motor 300. One end of the chuck base plate 210 is connected to chuck A 220, and the other end of the chuck base plate 210 forms a sliding guide connection with chuck B 230. Chuck A 220 is provided with a clamping trigger electromagnetic block 221, and chuck B 230 is provided with a chuck permanent magnet block 231. The clamping trigger electromagnetic block 221 and the chuck permanent magnet block 231 are connected or separated by electromagnetic force. Based on the sliding guide connection formed between chuck B 230 and the other end of the chuck base plate 210, chuck B 230 can reciprocate along the set direction of the chuck base plate 210, thus realizing the clamping movement between chuck B 230 and chuck A 220. Specifically, after the clamping trigger electromagnetic block 221 is energized, it will form a polarity that is different from or the same as that of the clamping permanent magnet block 231. When the polarities of the clamping trigger electromagnetic block 221 and the clamping permanent magnet block 231 are different, the clamping permanent magnet block 231 drives the clamping head 230 to be attracted and connected to the clamping trigger electromagnetic block 221 under the sliding guide action at the other end of the clamping base plate 210. At this time, the clamping head 220 and the clamping head 230 are in a clamping state, thereby achieving the technical purpose of clamping the suture needle. When the polarities of the clamping trigger electromagnetic block 221 and the clamping permanent magnet block 231 are the same, the clamping trigger electromagnetic block 221 repels the clamping permanent magnet block 231, thereby driving the clamping permanent magnet block 231 to disengage from the clamping trigger electromagnetic block 221 under the sliding guide action at the other end of the clamping base plate 210. That is, the technical purpose of releasing the clamping state of the clamping head 220 and the clamping head 230 and releasing the suture needle is achieved. Repeating the polarity switching operation of the clamping trigger electromagnetic block 221 described above can achieve the technical purpose of clamping or releasing the suture needle.

[0040] Based on the above scheme, in order to facilitate the operator's operation and control, and improve the control efficiency of each mechanism, such as Figure 6As shown, the needle holder 100 of this design also includes a needle holder handle 700 at its gripping end. The handle 700 houses a clamp control circuit board 701 and a needle holder battery 702. The clamp control circuit board 701 is electrically connected to the needle holder battery 702. The clamp control circuit board 701 includes a motor control circuit, a locking control circuit, and a clamping control circuit. The motor control circuit is electrically connected to the clamp rotation motor 300, the locking control circuit is electrically connected to the locking trigger solenoid 520, and the clamping control circuit is electrically connected to the clamping trigger solenoid 221. The needle holder handle 700 allows the surgeon to stably hold the laparoscopic needle holder. Furthermore, the inclusion of the clamp control circuit board 701 and the needle holder battery 702 in the handle 700 effectively utilizes its internal space, improving the overall compactness of the instrument and meeting the specific requirements of laparoscopic surgery. This solution can also achieve efficient control of the chuck rotary motor 300, the locking trigger solenoid 520, and the clamping trigger solenoid 221 through the motor control circuit, the locking control circuit, and the clamping control circuit, which greatly improves the operation control efficiency.

[0041] Based on the above scheme, in order to further improve the operator's operational control efficiency of each mechanism, such as... Figure 6As shown, the needle holder grip 700 of this design has a locking control button 711, a clamping control button 712, a motor forward rotation button 713, and a motor reverse rotation button 714 on its outer grip inner side. The locking control button 711 is electrically connected to the locking control circuit, triggering the locking control circuit to switch the electrode of the locking trigger electromagnetic block 520. The clamping control button 712 is electrically connected to the clamping control circuit, triggering the clamping control circuit to switch the electrode of the clamping trigger electromagnetic block 221. The motor forward rotation button 713 and the motor reverse rotation button 714 are electrically connected to the motor control circuit, triggering the motor control circuit to switch the rotation direction of the output shaft of the chuck rotation motor 300. Therefore, this design can conveniently control the operation of the locking trigger electromagnetic block 520, the clamping trigger electromagnetic block 221, and the chuck rotation motor 300. Specifically, pressing the trigger lock control button 711 causes the lock trigger electromagnetic block 520 to have an electrode different from that of the rubber ring permanent magnet block 512, thereby locking the chuck universal ball 410. Releasing the lock control button 711 causes the lock trigger electromagnetic block 520 to have the same electrode as the rubber ring permanent magnet block 512, thereby releasing the chuck universal ball 410. Similarly, pressing the trigger clamping control button 712 causes the clamping trigger electromagnetic block 221 to have an electrode different from that of the chuck permanent magnet block 231, thereby clamping the suture needle. Releasing the clamping control button 712 causes the clamping trigger electromagnetic block 221 to have the same electrode as the chuck permanent magnet block 231, thereby releasing the suture needle. Furthermore, pressing the trigger motor forward rotation button 713 or the motor reverse rotation button 714 causes the output shaft of the chuck rotary motor 300 to rotate in the forward or reverse direction, thereby adjusting the operating angle of the chuck component 201. In actual operation, the practitioner only needs to place the index, middle, ring, and little fingers of the hand holding the needle holder 700 at the corresponding positions of the locking control button 711, clamping control button 712, motor forward rotation button 713, and motor reverse rotation button 714, and then trigger them when the opportunity arises.

[0042] To achieve the sliding engagement between the adjusting universal ball 420 and the holding end opening of the needle holder 100, improve the stability of the engagement limit, reduce the resistance of the sliding engagement between the adjusting universal ball 420 and the holding end opening of the needle holder 100, improve operational efficiency, and reduce operational difficulty, this solution also discloses a specific structural method. For example... Figure 6 , 7As shown, the needle holder tube 100 of this solution has a snap-fit ​​outer ring B 630 in the handle end opening and a snap-fit ​​inner ring B 640 in the handle end opening. The inner ring end face of the snap-fit ​​outer ring B 630 has an outer ring groove B, and a ball outer ring groove B is provided in the outer ring groove B. Multiple sliding balls B 602 are provided in the ball outer ring groove B. The inner ring end face of the snap-fit ​​inner ring B 640 has an inner ring groove B, and a ball inner ring groove B is provided in the inner ring groove B. Multiple sliding balls B 602 are provided in the ball inner ring groove B. The sliding balls B 602 and the adjusting universal ball 420 form a limiting rolling snap-fit. The outer locking ring B 630 and the inner locking ring B 640 are respectively located at the front and rear ends of the adjusting universal ball 420, thereby clamping and limiting the adjusting universal ball 420 from both sides, preventing the adjusting universal ball 420 from moving back and forth along the axial direction, thus improving the stability of the locking and limiting. Through the limiting rolling locking formed by the sliding ball B 602 and the adjusting universal ball 420, the limiting locking of the adjusting universal ball 420 with the outer locking ring B 630 and the inner locking ring B 640 is transformed into a rolling limiting connection between the balls. This satisfies the requirements of the limiting locking while reducing the friction generated by the locking, improving operational efficiency and reducing operational difficulty.

[0043] To facilitate the operator's operation, control, and adjustment of the omnidirectional ball 420, such as... Figure 6 , 7 As shown, the adjustable universal ball 420 of this design has an adjusting protrusion 430 on its spherical surface outside the needle tube 100 of the needle holder. The force-bearing surface of the adjusting protrusion 430 has a fingertip groove 431, and the bottom arc surface of the fingertip groove 431 is densely covered with anti-slip textures. Therefore, during operation, the operator only needs to press the thumb of the hand holding the needle holder handle 700 into the fingertip groove 431 and use the thumb joint to drive the adjusting universal ball 420 to rotate. Thus, this design allows for all operational control of the laparoscopic needle holder with only one hand, providing an excellent user experience.

[0044] Unless otherwise specified, the structures, mechanisms, and components disclosed in this solution can all be implemented using common and conventional solutions known in the art. The laparoscopic needle holder in this solution is not limited to the content disclosed in the specific embodiments. The technical solutions appearing in the embodiments can be extended based on the understanding of those skilled in the art, and simple substitutions made by those skilled in the art based on this solution and common knowledge also fall within the scope of this solution.

Claims

1. A laparoscopic needle holder, comprising a needle holder body, wherein the needle holder body includes a needle holder tube and a needle holder clamp, characterized in that... The needle holder chuck includes a chuck component. The tail end of the chuck component is connected to a chuck rotary motor, which drives the chuck component to rotate. A chuck universal ball is slidably engaged in the chuck end opening of the needle holder tube, and an adjusting universal ball is slidably engaged in the gripping end opening of the needle holder tube. A drive cable connects the relative points of the spherical surfaces of the chuck universal ball and the adjusting universal ball located inside the needle holder tube. The chuck universal ball and the adjusting universal ball are synchronously linked through the drive cable. The spherical surface of the chuck universal ball located outside the needle holder tube is connected to the chuck rotary motor, and the chuck universal ball drives the chuck component to rotate.

2. The laparoscopic needle holder according to claim 1, characterized in that... The universal ball is further provided with a universal ball locking component inside the chuck end opening of the needle holder tube surrounding the universal ball of the chuck. The universal ball locking component includes a locking rubber ring surrounding the universal ball of the chuck. The inner diameter of the locking rubber ring is smaller than the outer diameter of the universal ball of the chuck. A rubber ring permanent magnet is provided on one side of the locking rubber ring. A locking trigger electromagnetic block is provided in the needle holder tube on the side opposite to the rubber ring permanent magnet. The locking trigger electromagnetic block and the rubber ring permanent magnet are connected or separated by electromagnetic force.

3. The laparoscopic needle holder according to claim 2, characterized in that... The needle holder tube has an outer locking ring inside the chuck end opening and an inner locking ring inside the chuck end opening. A locking rubber ring is provided between the outer locking ring and the inner locking ring. The locking trigger electromagnetic block is embedded in the inner locking ring.

4. The laparoscopic needle holder according to claim 3, characterized in that... The outer ring armor has an outer ring groove on its inner ring end face, and a ball outer ring groove is provided inside the outer ring groove. Multiple sliding ball armors are provided inside the ball outer ring groove. The inner ring armor has an inner ring groove on its inner ring end face, and a ball inner ring groove is provided inside the inner ring groove. Multiple sliding ball armors are provided inside the ball inner ring groove. The sliding ball armors and the chuck universal ball form a limiting rolling engagement.

5. The laparoscopic needle holder according to claim 3, characterized in that... The outer ring end face of the locking rubber ring is provided with a dovetail slider, and the dovetail slider forms a guide sliding connection with the dovetail groove extending axially on the inner side of the needle tube of the needle holder between the outer ring armor and the inner ring armor.

6. The laparoscopic needle holder according to claim 2, characterized in that... The chuck component includes a chuck base plate. The center of the back side of the chuck base plate is connected to the output shaft of the chuck rotary motor. One end of the chuck base plate is connected to chuck A, and the other end of the chuck base plate forms a sliding guide connection with chuck B. Chuck A is provided with a clamping trigger electromagnetic block, and chuck B is provided with a chuck permanent magnet block. The clamping trigger electromagnetic block and the chuck permanent magnet block are connected or separated by electromagnetic force.

7. The laparoscopic needle holder according to claim 6, characterized in that... The needle holder's needle tube is also provided with a needle holder handle. The needle holder handle contains a clamp control circuit board and a needle holder battery. The clamp control circuit board is electrically connected to the needle holder battery. The clamp control circuit board includes a motor control circuit, a locking control circuit, and a clamping control circuit. The motor control circuit is electrically connected to the clamp rotation motor. The locking control circuit is electrically connected to the locking trigger electromagnetic block. The clamping control circuit is electrically connected to the clamping trigger electromagnetic block.

8. The laparoscopic needle holder according to claim 7, characterized in that... The needle holder grip has a locking control button, a clamping control button, a motor forward rotation button, and a motor reverse rotation button on its outer grip inner side. The locking control button is electrically connected to the locking control circuit, and triggers the locking control circuit to switch the electrode of the locking trigger electromagnetic block. The clamping control button is also electrically connected to the clamping control circuit, and triggers the clamping control circuit to switch the electrode of the clamping trigger electromagnetic block. The motor forward rotation button and the motor reverse rotation button are electrically connected to the motor control circuit, and trigger the motor control circuit to switch the rotation direction of the output shaft of the chuck rotary motor.

9. The laparoscopic needle holder according to claim 1, characterized in that... The needle holder tube has a locking outer ring B inside its holding end opening and a locking inner ring B inside its holding end opening. The inner ring end face of the locking outer ring B has an outer ring groove B, and a ball outer ring groove B is provided inside the outer ring groove B. A plurality of sliding balls B are provided inside the ball outer ring groove B. The inner ring end face of the locking inner ring B has an inner ring groove B, and a ball inner ring groove B is provided inside the inner ring groove B. A plurality of sliding balls B are provided inside the ball inner ring groove B. The sliding balls B form a limiting rolling locking engagement with the adjusting universal ball.

10. The laparoscopic needle holder according to claim 1, characterized in that... The adjustable universal ball is provided with an adjusting protrusion on the spherical surface outside the needle tube of the needle holder. The bearing surface of the adjusting protrusion is provided with a fingertip groove, and the bottom arc surface of the fingertip groove is densely covered with anti-slip texture.

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