Laparoscopic surgical instrument with force feedback

Abstract

The invention discloses a laparoscopic surgical instrument with force feedback, and relates to the technical field of laparoscopic surgical instruments. The instrument comprises a clamp part, an extension rod, a traction mechanism, a traction module, a connecting shaft sleeve and a main traction mechanism, the clamp part only reserves necessary clamping structures such as the nose clamp A and the nose clamp B, and a transmission part is hidden inside and is prevented from being exposed; the traction mechanism adopts a rubber shaft sleeve to be matched with two groups of traction ropes to realize flexible bending, and no complex hinge part is needed; the main traction mechanism converts the stress of the instrument into stress through a traction slender rod, a spring piece and a movable piece and feeds the stress back to the hand of an operator; the traction module is provided with a traction handle A and a traction handle B, and a single hand is supported to complete clamp opening and closing and angle adjustment through traction or wrenching actions. The device is compact in structure and convenient to operate, the tissue damage risk is reduced, precise force feedback is achieved, the safety, continuity and precision of laparoscopic surgery are effectively improved, and the device is suitable for clinical minimally invasive treatment requirements.

Description

Technical Field

[0001] This invention relates to the field of laparoscopic surgical instruments, and in particular to a laparoscopic surgical instrument with force feedback. Background Technology

[0002] Laparoscopic surgery, with its significant advantages such as minimal trauma, less postoperative pain, faster recovery, and lower risk of infection, has become a widely used minimally invasive treatment method in clinical surgery. This type of surgery involves inserting surgical instruments with operating tips into the abdominal cavity through tiny openings in the patient's skin. The surgeon treats the lesion based on real-time images transmitted through the laparoscope. Therefore, the safety, ease of operation, and effectiveness of force feedback of the surgical instruments directly affect the success rate of the surgery and the patient's postoperative recovery. Among these instruments, surgical forceps with force feedback function are core operating instruments in laparoscopic surgery; their structural rationality and usability play a crucial role in the precision and safety of the surgery.

[0003] Existing technologies include designs for multi-degree-of-freedom surgical instruments with force feedback. For example, invention patent CN117257404A discloses a multi-degree-of-freedom surgical forceps with force feedback. This forceps achieves multi-dimensional movement of the instrument tip by incorporating swing and pitch components, and also includes a force detection component to provide force feedback support. While this patent makes an attempt to extend the degrees of freedom and provide basic force feedback functionality, its adaptability to practical clinical applications still needs improvement. Its structural design fails to fully consider the safety, convenience, and accuracy requirements of surgical procedures.

[0004] The surgical instrument disclosed in this prior art has significant structural design flaws: its tip has multiple exposed moving parts without effective concealment or protection. During insertion into the patient's abdominal cavity through a small opening, these protruding parts are highly susceptible to collision and scraping against the cavity wall and healthy tissue, increasing the risk of tissue damage. In terms of operation and adjustment, the instrument requires multiple independent knobs to control the opening, rotation, and pitch of the tip. In actual surgery, the user must use both hands to operate multiple knobs to complete the required movements, making the process cumbersome and complex. This not only affects the continuity and efficiency of the surgical procedure but also increases the risk of errors due to distraction. Furthermore, its force feedback mechanism is inadequate, with limited feedback effectiveness. Users cannot accurately perceive the clamping and operating force of the instrument tip through this mechanism, making it impossible to adjust the intensity of operation based on real-time feedback. This not only hinders the precision of the surgery but also further increases the possibility of damage to healthy tissue due to improper force control. Summary of the Invention

[0005] The purpose of this invention is to at least solve one of the technical problems existing in the prior art, and to provide a laparoscopic surgical instrument with force feedback. This invention can solve the problems of existing laparoscopic surgical instruments having too many moving parts at the tip that are not concealed, which can easily cause injury to the patient's body during insertion. It can also solve the problems of existing instruments requiring adjustment of the angle by a knob, requiring two hands for operation, and having a complicated and cumbersome process. Furthermore, it can solve the problems of limited force feedback and difficulty for users to accurately control the force. This improves the safety, ease of operation, and effectiveness of force feedback of the laparoscopic surgical instrument, and better meets the needs of minimally invasive laparoscopic surgery in clinical practice.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a laparoscopic surgical instrument with force feedback, comprising a clamping part, an extension rod, a traction mechanism, a traction module, a connecting sleeve, and a main traction mechanism. The extension rod is located at the tail end of the clamping part. The traction mechanism is connected between the clamping part and the extension rod and is flexible, replacing the traditional multi-part hinged structure with a flexible bending design, reducing the risk of damage from exposed moving parts. The traction module is located at the tail end of the extension rod away from the clamping part. The main traction mechanism passes through the extension rod and is connected to the clamping part and the traction mechanism. The traction module is connected to the main traction mechanism to drive the main traction mechanism to perform traction movement, achieving convenient operation and force transmission. The connecting sleeve is connected to the tail end of the extension rod away from the clamping part and is detachably connected to the traction module, adapting to different operating scenarios and improving the flexibility of use.

[0007] Preferably, the clamping part includes jaw clamp A, jaw clamp B, a hinge plate, a hinge rod, a pull rod, and a guide sleeve. Jaw clamp A and jaw clamp B are fitted together to form a clamp, retaining only the necessary clamping structure and having no extra exposed moving parts, effectively avoiding scratching damage to the patient's body surface cavities and healthy abdominal tissues when the instrument is inserted. The hinge plate is hinged to the tail ends of jaw clamp A and jaw clamp B. The guide sleeve is located at the tail ends of jaw clamp A and jaw clamp B. A hinge rod is hinged to the inner side of the guide sleeve. The hinge rod abuts against the hinge plate. A pull rod is hinged to the tail end of the hinge rod. A guide hole is integrally formed on the guide sleeve. The clamp opening and closing is realized through the compact internal hinge structure, avoiding the protrusion of external moving parts.

[0008] Preferably, the clamping part further includes an outer sleeve, the traction rod is movably sleeved in the guide hole on the guide sleeve, and the end of the guide sleeve away from the mouth forceps A is provided with an outer sleeve coaxial with the guide sleeve. The guide sleeve and the outer sleeve are respectively provided with external and internal threads. The guide sleeve and the outer sleeve are connected by the internal and external threads, which further optimizes the structural sealing and compactness, prevents internal components from being exposed, and improves assembly stability, reducing the safety hazards caused by component loosening during surgery.

[0009] Preferably, the main traction mechanism includes a traction rod, an inner mounting groove, a spring, and a movable plate. The end of the traction rod away from the hinge rod is connected to the traction rod. An inner mounting groove is integrally formed on the connecting bushing, extending through both ends. The inner mounting groove has a convex cross-section. The traction rod passes through the inner side of the traction mechanism and the extension rod, and extends into the traction module through the inner mounting groove in the connecting bushing. A movable plate is movably mounted in the inner mounting groove. A spring connects the inner mounting groove and the movable plate. The traction rod passes through the movable plate and connects to it. When the clamping part grips or the instrument is subjected to force, the spring generates corresponding stress as the traction rod pulls. This stress is transmitted in the opposite direction to the operator's hand through the traction rod and the traction bar, forming intuitive and real-time force feedback. This allows the user to accurately perceive the clamping force and operating intensity, solving the problem of limited force feedback in the prior art.

[0010] Preferably, the traction mechanism includes a rubber bushing, a front traction point, and a rear traction point. A rubber bushing is provided between the outer sleeve and the end of the extension rod. The flexible and bendable rubber bushing replaces the traditional rigid connection structure, eliminating complex exposed hinge components and further reducing the risk of tissue damage. The two ends of the rubber bushing are nested inside the extension rod and the hinge plate port, making the structure concealed and stable. Two sets of oppositely arranged front traction points are integrally formed on the inner wall of the rubber bushing near the outer sleeve, and two sets of oppositely arranged rear traction points are integrally formed on the inner wall of the rubber bushing near the extension rod, providing stable force support points for angle adjustment.

[0011] Preferably, the pulling mechanism further includes pulling ropes. Two sets of pulling ropes are inserted into the rubber bushing. The two sets of pulling ropes are arranged crosswise inside the rubber bushing and their ends are respectively connected to two sets of front pulling points. The other ends of the two sets of pulling ropes pass through the extension rod and extend into the connecting bushing. The bending direction and angle of the rubber bushing can be controlled by the traction of the pulling ropes, without the need for knob adjustment, simplifying the operation logic and adapting to the needs of one-handed operation.

[0012] Preferably, the pulling module is a pulling handle A, which includes a gripping part, a connecting sleeve, a traction component, and a hand-grip trigger. The gripping part has a gun-shaped structure, conforms to ergonomic design, and is easy to grip and exert force. The hand-grip trigger is hinged to the inside of the gripping part and can be passed through by fingers for operation, making it convenient to operate. The connecting sleeve is integrally formed at the front end of the gripping part, and the traction component is inserted into the connecting sleeve. The end of the traction component is inserted into the gripping part and connected to the movable end of the hand-grip trigger. The connecting sleeve is detachably connected to the connecting shaft sleeve. The traction component is connected to the end of the pulling rod. By pulling the hand-grip trigger, the pulling rod can be driven to open and close the clamping part, eliminating the need for both hands and reducing the difficulty of operation.

[0013] Preferably, the traction module further includes a screw-locking device, a movable groove, and a pull member. A screw-locking device coaxial with the docking sleeve is movably connected between the docking sleeve and the hand gripping part. The traction member passes through the screw-locking device, which is used to lock the traction member and fix the opening and closing state of the clamping part, thereby improving operational stability. The movable groove is integrally formed on the side wall of the hand gripping part and extends through it. The pull member is slidably installed in the movable groove and connected to the end of the traction rope. By sliding the pull member, the traction rope can be pulled to adjust the bending angle of the rubber bushing. In conjunction with the hand gripping trigger, the clamp opening and closing and angle adjustment can be completed with one hand, further improving operational continuity and efficiency.

[0014] Preferably, the pulling module is a pulling handle B, which includes a hand handle, side sliders, a main connecting piece, a through hole, a pull ring, and a groove. The hand handle has a U-shaped handle structure and is detachably connected to the connecting shaft sleeve, providing a comfortable and stable grip. The inner wall of the hand handle is integrally formed with a groove, on which side sliders are slidably mounted. The side sliders have a stepped cross-section, and a main connecting piece is provided between the two sets of side sliders. The end of the pulling rod is connected to the main connecting piece, and the two sets of pulling ropes are respectively connected to the two sets of side sliders. By pushing the side sliders or the main connecting piece, the opening and closing of the clamps and angle adjustment can be controlled synchronously. The bottom of the two sets of side sliders is integrally formed with a through hole, and a pull ring is connected to the bottom of both the side sliders and the main connecting piece. The pull ring at the bottom of the main connecting piece passes through the through hole, allowing the user to pull by inserting their finger into the pull ring. The action is intuitive and effortless, without the need for complex knob control. At the same time, the stress of the spring can be transmitted through the pull ring, allowing the user to clearly perceive the change in force, thus balancing ease of operation and accurate force feedback.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] This application effectively solves the problem in existing prior art where exposed moving parts at the end of the laparoscopic surgical forceps can easily cause injury to the patient. By designing the forceps tip to retain only the forceps body and without any other protruding moving parts, the application avoids this issue. During the insertion of the instrument into the abdominal cavity through tiny openings in the patient's body, the absence of protruding moving parts that collide with or scrape against the cavity wall or healthy abdominal tissue significantly reduces the risk of tissue damage, further ensuring the safety of laparoscopic surgery and better meeting the core clinical requirement for instrument safety in minimally invasive treatment.

[0017] To address the shortcomings of existing comparative documents that require multiple knobs for angle adjustment, rely on both hands, and involve cumbersome procedures, this application employs a hand-grip or finger-insertion-pull method. Two sets of pull ropes are used to pull the flexible, bendable tube near the instrument's end to adjust the bending angle, significantly simplifying the operation. Users no longer need to coordinate multiple knobs; a simple pull motion is sufficient for instrument operation and angle adjustment. This not only reduces operational difficulty but also improves the continuity and efficiency of surgical procedures, better meeting the demands for convenience and timeliness during surgery.

[0018] Furthermore, this application utilizes the stress of springs and flexible tubes to transmit force feedback to the operator's hand, effectively improving upon the limitations of force feedback and the difficulty for users to control force in existing prior art. This structural stress-based feedback method is direct and intuitive, allowing users to perceive the clamping and operational force of the instrument tip in real time and with precision. This facilitates timely adjustments to the operational intensity based on feedback, improving the accuracy of surgical procedures, ensuring the effectiveness of lesion treatment, and further reducing the possibility of damage to healthy tissue due to improper force control. This provides more reliable support for the successful implementation of laparoscopic surgery. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0020] Figure 1 This is a structural diagram of Embodiment 1 of the present invention;

[0021] Figure 2 This is a structural diagram of Embodiment 2 of the present invention;

[0022] Figure 3 This is a top view of Embodiment 2 of the present invention;

[0023] Figure 4 This is a cross-sectional view of the clamping part AA of the present invention;

[0024] Figure 5 This is a cross-sectional view (AA) of the traction module in Embodiment 2 of the present invention;

[0025] Figure 6 This is a structural diagram of the clamping part of the present invention;

[0026] Figure 7 This is a structural diagram of the traction module in Embodiment 1 of the present invention.

[0027] Reference numerals: 1. Clamping part; 11. Nose pliers A; 12. Nose pliers B; 13. Hinge plate; 14. Hinge rod; 15. Pulling rod; 16. Guide sleeve; 17. Outer sleeve; 2. Extension rod; 3. Pulling mechanism; 31. Rubber bushing; 32. Front pulling point; 33. Pulling rope; 34. Rear pulling point; 4. Pulling module; 41. Pulling handle A; 411. Hand gripping part; 412. Connecting sleeve ; 413. Traction component; 414. Tightening lock; 415. Hand-held trigger; 416. Movable groove; 417. Hand pull component; 421. Hand handle; 422. Side slider; 423. Main connecting piece; 424. Through hole; 425. Pull ring; 426. Slide groove; 5. Connecting bushing; 6. Main traction mechanism; 61. Pulling rod; 62. Inner mounting groove; 63. Spring component; 64. Movable piece. Detailed Implementation

[0028] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of this invention.

[0029] Example 1: Please refer to Figure 1 , 4 According to points 6 and 7, the present invention provides a technical solution: a laparoscopic surgical instrument with force feedback, comprising a clamping part 1, an extension rod 2, a traction mechanism 3, a traction module 4, a connecting sleeve 5, and a main traction mechanism 6. The extension rod 2 is located at the tail end of the clamping part 1 to extend the instrument's operating distance, adapting to the minimally invasive operation scenario of laparoscopic surgery. The traction mechanism 3 is connected between the clamping part 1 and the extension rod 2 and is flexible, replacing the traditional multi-part hinged structure with a flexible bending design, reducing exposed moving parts from the structural root. The traction module 4 is located at the tail end of the extension rod 2 away from the clamping part 1, providing a convenient force application point for operation. The main traction mechanism 6 passes through the extension rod 2 and is connected to the clamping part 1 and the traction mechanism 3 to realize power transmission. The connecting sleeve 5 is connected to the tail end of the extension rod 2 away from the clamping part 1 and is detachably connected to the traction module 4, allowing different traction modules 4 to be replaced according to surgical needs, improving the instrument's versatility.

[0030] The clamping part 1 includes jaw clamps A11, jaw clamps B12, hinge plate 13, hinge rod 14, pull rod 15, and guide sleeve 16. Its working principle is as follows: jaw clamps A11 and jaw clamps B12 fit together to form a clamp. The hinge plate 13 is hinged to the tail ends of both to realize the basic opening and closing action. The guide sleeve 16 provides installation and guidance support for the internal transmission components. The pull rod 15 pulls the hinge rod 14, and the hinge rod 14 abuts against the hinge plate 13 and pushes it to rotate, thereby driving jaw clamps A11 and jaw clamps B12 to complete the opening and closing action. This structure retains only essential clamping components such as the mouth forceps A11 and mouth forceps B12. All transmission structures are integrated inside the guide sleeve 16, with no unnecessary exposed moving parts. This effectively avoids the risk of injury caused by protruding parts scraping against tissues when the instruments are inserted into the patient's body surface or abdominal cavity, meeting the core requirements of instrument safety in minimally invasive surgery. The one-piece molded guide hole on the guide sleeve 16 provides a stable movement trajectory for the traction rod 15, ensuring the accuracy of the clamp opening and closing action.

[0031] The clamping part 1 also includes an outer sleeve 17. The traction rod 15 is movably sleeved in the guide hole of the guide sleeve 16. The end of the guide sleeve 16 away from the mouth forceps A11 is provided with a coaxial outer sleeve 17. The two are connected by internal and external threads. This design not only enhances the sealing and compactness of the overall structure of the clamping part 1 and avoids the exposure of internal transmission components, but also improves the convenience of assembly and disassembly. At the same time, it reduces the risk of loosening of components during surgery and further ensures surgical safety.

[0032] The main traction mechanism 6 includes a traction rod 61, an inner mounting groove 62, a spring 63, and a movable piece 64. Its working principle is as follows: the end of the traction rod 15 away from the hinge rod 14 is connected to the traction rod 61. The traction rod 61 passes through the traction mechanism 3, the inner side of the extension rod 2, and the inner mounting groove 62 of the connecting bushing 5 in sequence, and finally extends into the traction module 4. The movable piece 64 is movably sleeved in the inner mounting groove 62 with a convex cross section. The spring 63 is connected between the inner mounting groove 62 and the movable piece 64. The traction rod 61 passes through and is fixed to the movable piece 64. When the clamping forceps 1 clamps the lesion or instrument and is subjected to external force, the traction rod 61 will drive the movable piece 64 to move within the convex inner mounting groove 62, causing the spring 63 to deform accordingly and generate stress. This stress is transmitted in the opposite direction to the operator's hand through the traction rod 61 and the traction rod 15, allowing the user to perceive the clamping force and the force situation in real time and accurately. This solves the problem of insufficient force feedback and difficulty in accurately controlling force in the existing technology, and provides a guarantee for the accuracy of surgical operations.

[0033] The traction mechanism 3 includes a rubber bushing 31, a front traction point 32, and a rear traction point 34. Its working principle is as follows: the rubber bushing 31, located between the outer sleeve 17 and the end of the extension rod 2, is a flexible and bendable structure. Its two ends are nested inside the ports of the extension rod 2 and the hinge plate 13, ensuring a stable and concealed connection. The two sets of opposing front traction points 32 and two sets of opposing rear traction points 34 on the inner wall of the rubber bushing 31 provide stable force support points for angle adjustment. This structure uses a flexible rubber bushing 31 to replace the traditional rigid hinge structure, eliminating complex exposed moving parts and further reducing the risk of collision and scratching between the instrument and human tissue. Simultaneously, the nested installation design makes the overall structure more compact, meeting the minimally invasive design requirements of laparoscopic surgical instruments.

[0034] The traction mechanism 3 also includes traction ropes 33, which work as follows: two sets of traction ropes 33 are interlaced inside the rubber bushing 31, with their ends connected to two sets of front traction points 32 respectively, and the other end passing through the extension rod 2 and extending into the connecting bushing 5. By pulling different traction ropes 33, the rubber bushing 31 can bend in the corresponding direction, thereby adjusting the orientation angle of the clamping part 1. This adjustment method does not require additional knobs; angle control can be achieved solely through traction action, simplifying the operation logic and meeting the requirements for ease of operation during surgery.

[0035] Secondly, the traction module 4 is a traction handle A41, which includes a gripping part 411, a docking sleeve 412, a traction member 413, and a gripping trigger 415. Its working principle is as follows: the gun-shaped gripping part 411 is ergonomically designed for easy gripping and force application; the gripping trigger 415 is hinged to the inside of the gripping part 411 and allows fingers to pass through; the docking sleeve 412 is integrally formed into the gripping part 411; the traction member 413 passes through the docking sleeve 412, with its end extending into the gripping part 411 and connecting to the movable end of the gripping trigger 415; the docking sleeve 412 is detachably connected to the connecting shaft sleeve 5; and the traction member 413 is connected to the end of the traction rod 61. The user only needs to use one hand to pull the gripping trigger 415, which drives the traction rod 61 through the traction member 413, thereby controlling the opening and closing of the clamping part 1. This eliminates the need for two hands to coordinate multiple knobs, significantly reducing the difficulty of operation and improving the continuity and convenience of surgical procedures.

[0036] Example 2: Please refer to Figure 2-6 Based on Example 1, this laparoscopic surgical instrument with force feedback further optimizes its operational functions, as follows:

[0037] The traction module 4 also includes a screw-locking device 414, a movable groove 416, and a pull member 417. Its working principle is as follows: the screw-locking device 414 is movably connected between the docking sleeve 412 and the hand gripping part 411, and is coaxial with the docking sleeve 412. The traction member 413 passes through the screw-locking device 414, and the screw-locking device 414 can fix the position of the traction member 413 by thread locking. The movable groove 416 is integrally formed on the side wall of the hand gripping part 411 and passes through it. The pull member 417 is slidably installed in the movable groove 416 and connected to the end of the traction rope 33. The screw-locking device 414 can lock the traction member 413 after the clamp part 1 reaches the desired opening and closing state, preventing the clamp from loosening due to accidental contact during the operation, thus improving the stability and safety of the operation; the pull member 417 works in conjunction with the traction rope 33, allowing the user to simultaneously perform the operation of squeezing the trigger 415 to control the opening and closing of the clamp and adjusting the bending angle of the rubber bushing 31 with one hand, further optimizing the operation process and improving the efficiency of the operation.

[0038] The traction module 4 can also use a traction handle B42, which includes a hand handle 421, a side slider 422, a main connecting piece 423, a through hole 424, a pull ring 425, and a groove 426. The working principle is as follows: the handle 421 with a U-shaped structure is detachably connected to the connecting bushing 5, which is comfortable and stable to hold. The groove 426 on the inner wall of the handle 421 provides a sliding track for the side slider 422. The main connecting piece 423 is set between the two sets of side sliders 422 with a stepped cross section. The end of the traction rod 61 is connected to the main connecting piece 423. The two sets of traction ropes 33 are respectively connected to the two sets of side sliders 422. The through hole 424 at the bottom of the side slider 422 allows the pull ring 425 at the bottom of the main connecting piece 423 to pass through. The bottom of both the side slider 422 and the main connecting piece 423 is connected to the pull ring 425. The user can insert their finger into the pull ring 425 and pull directly. By pulling the pull ring 425 of the main connecting piece 423, the traction rod 61 can be driven to open and close the clamp part 1. By pulling the pull ring 425 of the traction side slider 422, the traction rope 33 can be driven to adjust the bending angle of the rubber bushing 31. This operation method is intuitive and labor-saving, without the need for complicated knob control logic. At the same time, the deformation stress of the spring 63 can be transmitted to the pull ring 425 through the traction rod 61 and the main connecting piece 423, allowing the user to clearly perceive the change in force. This simplifies the operation while ensuring the accuracy of force feedback, balancing the convenience of operation with the precision of surgery.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A laparoscopic surgical instrument with force feedback, characterized in that, include: The clamping part (1), the extension rod (2), the pulling mechanism (3), the pulling module (4), the connecting bushing (5), and the main pulling mechanism (6) are arranged. The extension rod (2) is located at the tail end of the clamping part (1). The pulling mechanism (3) is connected between the clamping part (1) and the extension rod (2) and can be bent. The pulling module (4) is located at the tail end of the extension rod (2) away from the clamping part (1). The main pulling mechanism (6) is inserted into the extension rod (2) and connected to the clamping part (1) and the pulling mechanism (3). The pulling module (4) is connected to the main pulling mechanism (6) to drive the main pulling mechanism (6) to pull. The connecting bushing (5) is connected to the tail end of the extension rod (2) away from the clamping part (1) and is detachably connected to the pulling module (4).

2. The laparoscopic surgical instrument with force feedback according to claim 1, characterized in that: The clamping part (1) includes a jaw clamp A (11), a jaw clamp B (12), a hinge plate (13), a hinge rod (14), a pull rod (15), and a guide sleeve (16). The jaw clamp A (11) and the jaw clamp B (12) are fitted together to form a clamp. The hinge plate (13) is hinged to the tail ends of the jaw clamp A (11) and the jaw clamp B (12). The guide sleeve (16) is located at the tail ends of the jaw clamp A (11) and the jaw clamp B (12). The hinge rod (14) is hinged to the inner side of the guide sleeve (16). The hinge rod (14) abuts against the hinge plate (13). The pull rod (15) is hinged to the tail end of the hinge rod (14). The guide sleeve (16) is integrally formed with a guide hole.

3. A laparoscopic surgical instrument with force feedback according to claim 2, characterized in that: The clamping part (1) also includes an outer sleeve (17). The pulling rod (15) is movably sleeved in the guide hole on the guide sleeve (16). The end of the guide sleeve (16) away from the mouth pliers A (11) is provided with an outer sleeve (17) coaxial with the guide sleeve (16). The guide sleeve (16) and the outer sleeve (17) are respectively provided with external and internal threads. The guide sleeve (16) and the outer sleeve (17) are threadedly connected through the internal and external threads.

4. A laparoscopic surgical instrument with force feedback according to claim 3, characterized in that: The main traction mechanism (6) includes a traction rod (61), an inner mounting groove (62), a spring (63), and a movable piece (64). The end of the traction rod (15) away from the hinge rod (14) is connected to the traction rod (61). The inner mounting groove (62) is integrally formed on the connecting bushing (5) and extends through both ends of it. The inner mounting groove (62) has a convex cross section. The traction rod (61) passes through the inner side of the traction mechanism (3) and the extension rod (2) and passes through the inner mounting groove (62) in the connecting bushing (5) to extend into the traction mechanism (3). The movable piece (64) is movably installed in the inner mounting groove (62). The spring (63) is connected between the inner mounting groove (62) and the movable piece (64). The traction rod (61) passes through the movable piece (64) and is connected to the movable piece (64).

5. A laparoscopic surgical instrument with force feedback according to claim 4, characterized in that: The pulling mechanism (3) includes a rubber bushing (31), a front pulling point (32) and a rear pulling point (34). A rubber bushing (31) is provided between the outer sleeve (17) and the end of the extension rod (2). The two ends of the rubber bushing (31) are nested inside the ports of the extension rod (2) and the hinge plate (13). Two sets of front pulling points (32) are integrally formed near the outer sleeve (17) on the inner wall of the rubber bushing (31). Two sets of rear pulling points (34) are integrally formed near the extension rod (2) on the inner wall of the rubber bushing (31).

6. A laparoscopic surgical instrument with force feedback according to claim 5, characterized in that: The pulling mechanism (3) also includes a pulling rope (33). Two sets of pulling ropes (33) are inserted into the rubber bushing (31). The two sets of pulling ropes (33) are arranged crosswise in the rubber bushing (31) and their ends are connected to two sets of front pulling points (32) respectively. The other end of the two sets of pulling ropes (33) passes through the extension rod (2) and extends into the connecting bushing (5).

7. A laparoscopic surgical instrument with force feedback according to any one of claims 1-6, characterized in that: The pulling module (4) is a pulling handle A (41). The pulling handle A (41) includes a gripping part (411), a docking sleeve (412), a traction member (413), and a hand-grip trigger (415). The gripping part (411) has a gun-shaped structure. The hand-grip trigger (415) is hinged to the inside of the gripping part (411) and can be passed through by fingers for pulling. The docking sleeve (412) is integrally formed. The traction member (413) is inserted inside the docking sleeve (412). The end of the traction member (413) is inserted into the gripping part (411) and connected to the movable end of the hand-grip trigger (415). The docking sleeve (412) is detachably connected to the connecting bushing (5). The traction member (413) is connected to the end of the pulling rod (61).

8. A laparoscopic surgical instrument with force feedback according to claim 7, characterized in that: The traction module (4) also includes a screw lock (414), a movable groove (416), and a pull member (417). The screw lock (414) is movably connected between the docking sleeve (412) and the hand grip (411) and is coaxial with the docking sleeve (412). The traction member (413) passes through the screw lock (414) and the screw lock (414) is used to lock the traction member (413). The movable groove (416) is integrally formed with the side wall of the hand grip (411) and passes through it. The pull member (417) is slidably installed in the movable groove (416) and connected to the end of the traction rope (33).

9. A laparoscopic surgical instrument with force feedback according to any one of claims 1-6, characterized in that: The pulling module (4) is a pulling handle B (42). The pulling handle B (42) includes a hand handle (421), a side slider (422), a main connecting piece (423), a through hole (424), a pull ring (425), and a sliding groove (426). The hand handle (421) has a U-shaped handle structure and is detachably connected to the connecting bushing (5). The inner wall of the hand handle (421) is integrally formed with a sliding groove (426). The side slider (422) is slidably installed on the sliding groove (426). The cross section is stepped, and a main connecting piece (423) is provided between the two sets of side sliders (422). The main connecting piece (423) is connected to the end of the pulling rod (61). The two sets of pulling ropes (33) are respectively connected to the two sets of side sliders (422). The bottom of the two sets of side sliders (422) is integrally formed with a through hole (424). The bottom of the side sliders (422) and the main connecting piece (423) are both connected with a pull ring (425). The pull ring (425) at the bottom of the main connecting piece (423) passes through the through hole (424).

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