Multi-degree-of-freedom steering device and surgical instrument

Abstract

This application relates to the field of medical devices, specifically a multi-degree-of-freedom control device and surgical instruments. The device has a first drive column with a first drive wire and a second drive wire wound around its surface in opposite directions. A second drive column is coaxially rotatably connected to the first drive column, and its surface is wound with a third drive wire and a fourth drive wire in opposite directions. A control mechanism is rotatably connected to a main support and to both the first and second drive columns. The control mechanism can rotate relative to the main support to drive the first and second drive columns to rotate in the same direction, and can also move itself to drive the first and second drive columns to rotate in opposite directions. Through the design of the control mechanism, two coaxially arranged drive columns, and four drive wires, this device achieves independent and precise decoupled control of the opening, closing, and deflection movements of the clamp body. This solves the operational interference problems caused by structural complexity and mode coupling in existing technologies, thus improving operational accuracy.

Description

Technical Field

[0001] This application relates to the field of medical devices, specifically a multi-degree-of-freedom control device and surgical instruments. Background Technology

[0002] In the field of microsurgery, surgical instruments typically require multiple degrees of freedom to achieve precise and flexible manipulation. Several multi-degree-of-freedom surgical instruments exist in the prior art, designed to provide surgeons with greater operational flexibility and a wider surgical field. A common design in the prior art uses multiple drive wires to pull and control the movement of an end effector (such as a forceps). For example, it may include a drive handle, a drive mechanism, and an end forceps connected via drive wires. The surgeon tightens or loosens the drive wires by operating the control mechanism on the handle, thereby driving the forceps to perform corresponding movements, such as opening, closing, or deflection.

[0003] However, to achieve both opening and closing of the clamp (one degree of freedom) and overall yaw (another degree of freedom), existing solutions typically require independent and complex drive control structures for different degrees of freedom. For example, a separate drive column and wire drive system might be needed for the opening and closing motion, and another separate drive column and wire drive system for the yaw motion. This structure results in complex internal instrument construction, difficulty in miniaturization, and potential interference between multiple control mechanisms, making it difficult to achieve truly independent (decoupled) control of the two motion modes. Furthermore, due to structural coupling or a lack of sophisticated decoupling design, performing one motion (such as yaw) may unintentionally affect the execution state of another motion (such as opening and closing), leading to imprecise control and increasing the cognitive burden and adjustment time for surgeons during delicate procedures. In microsurgeries and other procedures with extremely high requirements for instrument size and operational precision, the aforementioned existing technologies struggle to achieve independent and precise control of multiple degrees of freedom within a miniaturized structure. This necessitates frequent instrument changes at different angles to adapt to varying operational needs, thus prolonging surgical time. Summary of the Invention

[0004] To address the problems mentioned in the background art, existing microsurgical instruments typically require two independent and complex drive control structures to achieve the two degrees of freedom of forceps opening and closing and yaw, resulting in complex structures, difficulty in miniaturization, and easy interference between the two control mechanisms, making it difficult to achieve independent decoupled control of the two motion modes. This application provides a multi-degree-of-freedom manipulation device. The device includes: Main support; The first drive post has a first drive wire and a second drive wire wound around its surface in opposite directions. The first drive wire and the second drive wire extend to the outside of the main support for connecting to the clamp body. The second drive column is rotatably connected to the first drive column on the same axis. A third drive wire and a fourth drive wire are wound around its surface in opposite directions. The third drive wire and the fourth drive wire extend to the outside of the main support and are used to connect the clamp body. The control mechanism is rotatably connected to the main support and to the first drive column and the second drive column respectively. The control mechanism can rotate relative to the main support to drive the first drive column and the second drive column to rotate in the same direction, and can move on its own to drive the first drive column and the second drive column to rotate in opposite directions. When the first drive column and the second drive column rotate in the same direction, the first drive wire and the third drive wire are tightened, and the second drive wire and the fourth drive wire are released; or the second drive wire and the fourth drive wire are tightened, and the first drive wire and the third drive wire are released. When the first drive column and the second drive column rotate in opposite directions, the first drive wire and the fourth drive wire are tightened, and the second drive wire and the third drive wire are released; or the second drive wire and the third drive wire are tightened, and the first drive wire and the fourth drive wire are released.

[0005] This device achieves independent and precise decoupled control of the forceps' opening, closing, and deflection movements through a control mechanism that integrates both unidirectional and reverse drive modes, as well as a sophisticated wiring system consisting of two coaxial drive columns and four drive wires. This effectively solves the operational interference problems caused by structural complexity and mode coupling in existing technologies, enabling surgeons to perform operations in different motion modes. It not only reduces the complexity and size of the instrument but also avoids unexpected interference during delicate operations, simplifying the surgical procedure.

[0006] Optionally, the control mechanism includes: A co-rotation control assembly is rotatably connected to the main support, and the rotation axis of the co-rotation control assembly is coaxially arranged with the first drive column and the second drive column; A reverse rotation control component is movably mounted on the same-direction rotation control component and connected to the first drive column and the second drive column respectively. The same-direction rotation control component can drive the first drive column and the second drive column to rotate in the same direction through the reverse rotation control component when rotating. The reverse rotation control component can move relative to the same-direction rotation control component to drive the first drive column and the second drive column to rotate in opposite directions.

[0007] This scheme decomposes the control mechanism into two separate control components, providing a clear physical carrier and operation interface for the two abstract motion modes of "rotation in the same direction" and "rotation in opposite directions". This lays the foundation for subsequent specific mechanical structure design and the implementation of precise system control, making the control logic more intuitive.

[0008] Optionally, the co-rotation control component includes: A rotating shaft is rotatably connected to the main bracket and is coaxially arranged with the first drive column and the second drive column; A deflector, connected to the rotating shaft, is used to control the rotation of the rotating shaft.

[0009] This solution provides a simple and intuitive method for implementing a co-rotation control component. The deflection frame serves as the direct interface for the physician to operate the deflection motion, making the control of the deflection motion of the end-effectors direct and reliable.

[0010] Optionally, the main support is provided with a mounting bracket, and the rotating shaft, the first drive column and the second drive column are respectively mounted on the mounting bracket and are able to rotate relative to the mounting bracket.

[0011] This design provides a unified and robust support for the rotating shaft and drive column through the mounting bracket, thereby improving the rigidity and motion accuracy of the entire transmission system, enhancing the stability and reliability of motion transmission, and providing structural protection for delicate microsurgical operations.

[0012] Optionally, the reverse rotation control component includes: The slider is slidably connected to the same-direction rotation control component; The first movable link is connected to the slider at one end and to the first drive column at the other end; The second movable link is connected to the slider at one end and to the second drive column at the other end; The slider can slide relative to the same-direction rotation control component, so that the relative movement of the first movable link and the second movable link can drive the first drive column and the second drive column to rotate in opposite directions.

[0013] This solution provides a concrete and reliable reverse rotation drive implementation. It efficiently transforms the linear sliding of the slider into the synchronous reverse rotation of the two drive columns through a linkage mechanism, which is the key mechanical link for achieving independent control of the opening and closing motion of the clamp.

[0014] Optionally, the first movable link includes a first swing arm and a second swing arm, the first swing arm being rotatably connected to the slider, and the second swing arm being connected to the first drive column and hinged to the first swing arm; the second movable link includes a third swing arm and a fourth swing arm, the third swing arm being rotatably connected to the slider, and the fourth swing arm being connected to the second drive column and hinged to the third swing arm; the first swing arm and the third swing arm are coaxially rotatably connected to the slider.

[0015] This solution uses a composite linkage with a hinged swing arm to form a quadrilateral structure, which improves the smoothness and stability of motion transmission of the reverse rotation control component, reduces nonlinear resistance, and makes the control feel of the clamp opening and closing motion more precise and consistent.

[0016] Optionally, the reverse rotation control component further includes: The handle is rotatably connected to the main bracket via a drive shaft; The guide wheel assembly is mounted on the same-direction rotation control assembly; A first transmission wire is wound around the drive shaft and the guide wheel assembly, and is connected to the slider; The handle is movable to pull the first transmission wire around the guide wheel assembly via the drive shaft, thereby causing the slider to slide relative to the same-direction rotation control component.

[0017] This solution provides a comfortable and flexible remote wire drive method for controlling the opening and closing motion of the slider. Positioning the handle in a convenient handheld location, and spatially separating it from the deflection frame, improves human-machine interface and allows doctors to easily distinguish and operate different degrees of freedom.

[0018] Optionally, the guide wheel assembly includes: The first guide wheel is located at the rotation axis of the same-direction rotation control assembly; The second guide wheel is located at a position away from the rotation axis of the same-direction rotation control assembly; The co-rotation control assembly has a sliding track, the slider is disposed on the sliding track, and at least a portion of the first transmission wire is wound between the first guide wheel and the second guide wheel and corresponds to the sliding track.

[0019] The key to this solution lies in the optimized design of the transmission wire path used for opening and closing control, particularly the placement of the critical pulley group at the center of the rotation axis. This significantly reduces the impact on the tension of the opening and closing control transmission wire when deflection occurs, effectively isolating the two motion modes and thus achieving excellent decoupling performance, ensuring the independence and accuracy of the opening and closing control.

[0020] Optionally, the main support is provided with a first pulley group and a second pulley group, and one side of the main support has an output port; the first drive wire, the second drive wire, the third drive wire and the fourth drive wire respectively bypass the first pulley group and the second pulley group and extend from the output port.

[0021] This solution uses a fixed pulley system to guide and gather the drive wire, optimizing its internal wiring path, reducing friction and mutual interference, and ensuring a more stable and reliable power transmission from the drive column to the end clamp.

[0022] Optionally, the main support is provided with an extension tube for extending to connect with the clamp body. The extension tube is rotatably connected to the main support. The first drive wire, the second drive wire, the third drive wire, and the fourth drive wire respectively pass through the extension tube. A rotation control component is provided on one side of the main support. The rotation control component is connected to the extension tube to drive the extension tube to rotate relative to the main support.

[0023] This design adds a third degree of freedom to the existing two degrees of freedom. By rotating the extension tube, the entire end-effector can be rotated circumferentially, providing comprehensive posture adjustment capabilities for surgery, further expanding the applicability of a single instrument, reducing the need to change instruments, and significantly improving the efficiency and flexibility of surgery.

[0024] Optionally, the rotation control component includes: an adjustment knob rotatably connected to the main support for being driven to rotate by an external force; and a second transmission wire wound between the adjustment knob and the extension tube, wherein the second transmission wire drives the extension tube to rotate via the rotation of the adjustment knob.

[0025] This solution provides a compact and precisely controlled self-rotation drive mechanism. The adjustment knob is positioned for easy operation, and the instrument's self-rotation function can be achieved with precise and stepless angle adjustment via wire drive, allowing doctors to flexibly adjust the operating angle according to surgical needs.

[0026] Optionally, a handle is provided on the main support, and the control mechanism is located on the main support near the handle.

[0027] This design follows ergonomic principles in its layout optimization. The control mechanisms are positioned near the grip handle, allowing surgeons to easily access and operate all control components while maintaining a stable grip, thus improving comfort and control precision during prolonged surgical procedures.

[0028] Another aspect of this application provides a surgical instrument. The surgical instrument includes: The multi-degree-of-freedom control device described above; The clamp body is connected to the multi-degree-of-freedom control device; the clamp body includes a first clamping part and a second clamping part that are hinged to each other, the first clamping part is connected to the first drive wire and the second drive wire, and the second clamping part is connected to the third drive wire and the fourth drive wire; The multi-degree-of-freedom control device can tighten the first drive wire and the third drive wire while releasing the second drive wire and the fourth drive wire through the control mechanism, or tighten the second drive wire and the fourth drive wire while releasing the first drive wire and the third drive wire, so that the first clamp and the second clamp can open and close around the hinge axis. The multi-degree-of-freedom manipulation device can tighten the first drive wire and the fourth drive wire while releasing the second drive wire and the third drive wire through the control mechanism, or tighten the second drive wire and the third drive wire while releasing the first drive wire and the fourth drive wire, so that the first clamp and the second clamp can deflect around the hinge axis.

[0029] The beneficial effect of this surgical instrument lies in the fact that by combining a multi-degree-of-freedom control device with a specific end-effector and clearly defining the connection logic, a complete surgical system with clear motion mapping is formed. This system can directly and without interference translate the surgeon's operation on the control mechanism into precise opening, closing, or deflection movements of the end-effector, significantly enhancing the instrument's operational flexibility. While meeting the needs of complex microsurgical procedures, it helps reduce frequent operations caused by changing instruments at different angles, thereby shortening the operation time.

[0030] Compared to existing technologies, the multi-degree-of-freedom control device and surgical instrument provided in this application achieve independent and precise decoupled control of the forceps opening and deflection movements through a control mechanism that integrates both unidirectional and reverse drive modes, and a sophisticated wiring system consisting of two coaxial drive columns and four drive wires. Operating one mode does not unnecessarily affect the other, thus avoiding the common problem of mutual interference in existing technologies. This integrated design not only consolidates the control of multiple degrees of freedom within a compact device, significantly reducing the overall size of the instrument and facilitating miniaturization, but also makes the surgeon's operation more intuitive and reliable, eliminating the need to switch between different movements or worry about complex operational logic. In delicate surgeries such as microsurgery, this effectively improves operational flexibility and control precision, helping to simplify surgical procedures and shorten surgical time. Attached Figure Description

[0031] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0032] Figure 1 This is a schematic diagram of the multi-degree-of-freedom control device of this application; Figure 2 This is a schematic diagram of the main support structure of the multi-degree-of-freedom control device of this application; Figure 3 This is a partial structural diagram of the control mechanism of the multi-degree-of-freedom control device of this application; Figure 4 This is a schematic diagram of the co-rotation control component of the multi-degree-of-freedom manipulation device of this application; Figure 5 This is a top view of the multi-degree-of-freedom control device of this application in the deflection state; Figure 6 This is a schematic diagram of the reverse rotation control component of the multi-degree-of-freedom control device of this application; Figure 7 This is a schematic diagram of the forceps structure of the surgical instrument of this application; Figure 8 This is a schematic diagram of the surgical instrument used in this application.

[0033] Explanation of reference numerals in the attached figures: 1. Main bracket; 11. Shaft hole; 12. Mounting bracket; 13. First pulley block; 14. Second pulley block; 15. Handle; 16. Extension tube; 21. First drive column; 22. Second drive column; 3. Co-rotation control assembly; 31. Rotation shaft; 32. Deflection frame; 321. Sliding rail; 4. Reverse rotation control assembly; 41. Slider; 42. First movable link; 421. First swing arm; 422. Second swing arm; 43. Second movable link; 431. Third swing arm; 432. Fourth swing arm; 44. Handle; 441. Drive shaft; 451. First guide wheel; 452. Second guide wheel; 453. Third guide wheel; 46. First transmission wire; 5. Rotation control assembly; 51. Adjustment knob; 52. Second transmission wire; 61. First drive wire; 62. Second drive wire; 63. Third drive wire; 64. Fourth drive wire; 7. Clamp body; 71. First clamp part; 72. Second clamp part; 73. Hinge shaft. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 the embodiments of the present invention 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 the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0037] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0038] In delicate procedures such as microsurgery, surgical instruments typically need to possess multiple degrees of freedom to adapt to complex surgical anatomy and perform precise manipulations. To achieve this, a widely used existing technology employs multiple drive wires to pull and control the movement of an end effector (such as a forceps). In this approach, the surgeon uses a control mechanism on a handle to individually retract and extend different drive wires, thereby driving the forceps at the mechanical end to perform opening, closing, or oscillating movements.

[0039] However, to achieve two independent degrees of freedom on a single instrument—the opening and closing motion of the clamp body around its hinge axis and the yaw motion of the clamp body as a whole around another axis—existing solutions generally employ a design approach that sets up separate drive systems for each degree of freedom. Specifically, it is usually necessary to configure a transmission system containing a drive column and corresponding drive wire for the opening and closing motion, while configuring another structurally similar independent drive system for the yaw motion. This design approach, in principle, requires the two systems to coexist spatially and be functionally isolated.

[0040] This parallel dual-system architecture directly leads to a significant increase in the complexity of the instrument's internal structure and its overall size. A more fundamental problem lies in the lack of an effective motion decoupling mechanism between the two mechanically independent drive systems that ultimately act on the same end-effector. In practice, when a physician intends to perform one motion (e.g., yaw), the corresponding drive system's action may unintentionally interfere with the tension state of the drive wire used to control another motion (e.g., opening and closing) through the forceps structure or drive wire path, and vice versa. This coupling interference between motion modes means that adjusting one degree of freedom can unintentionally alter the preset state of the other, severely impacting the independence and precision of control, and increasing the cognitive burden and operational time required for repeated calibrations during delicate procedures.

[0041] Faced with the aforementioned motion coupling problem, a common approach for those skilled in the art is to optimize the two independent systems, such as by strengthening mechanical isolation or optimizing control algorithms. However, in the context of microsurgical procedures where instrument size is strictly limited, simple spatial isolation is often difficult to achieve completely and would further increase structural complexity and manufacturing costs; while relying on control compensation may introduce delays and reduce the direct feedback of the system. Therefore, how to fundamentally decouple the two degrees of freedom of opening and closing and yaw from a mechanical principle perspective within an extremely compact space, ensuring their complete independence and non-interference, has become a long-standing and urgent technical challenge in this field.

[0042] In view of this, the embodiments of the present invention aim to provide a multi-degree-of-freedom manipulation device and surgical instrument, in order to solve or at least partially alleviate the above-mentioned technical problems.

[0043] Example 1 This embodiment provides a multi-degree-of-freedom control device. The core of the device lies in its unique drive and control architecture, which decomposes the seemingly complex end-effector motion into specific rotation modes of the drive column. Through a clever mechanical decoupling design, the control of different motion modes is made independent of each other, realizing independent and precise control of multiple degrees of freedom of motion of the end tool (e.g., clamp 7).

[0044] like Figure 1 andFigure 2 As shown, the device may include a main support 1 as its structural foundation. The main support 1 may be made of a lightweight yet robust material, such as aluminum alloy or medical-grade stainless steel, to reduce the burden of hand operation while ensuring strength. To support the internal core transmission components, the main support 1 may be provided with a dedicated mounting structure, such as an integrally formed or threaded mounting bracket 12, and a shaft hole 11 formed on the surface of the main support 1.

[0045] In this embodiment, the drive core of the multi-degree-of-freedom control device may include two independently rotatable drive columns. For example... Figures 1 to 4 As shown, the drive column includes a first drive column 21 and a second drive column 22. The first drive column 21 and the second drive column 22 are coaxially mounted in the mounting bracket 12 of the main bracket 1. The first drive column 21 and the second drive column 22 can rotate flexibly with the main bracket 1.

[0046] In one embodiment, the cylindrical surfaces of the first drive post 21 and the second drive post 22 may be provided with helical wire grooves. Specifically, the surface of the first drive post 21 is wound with the first drive wire 61 and the second drive wire 62 in opposite directions (e.g., one left-handed and the other right-handed). Similarly, the surface of the second drive post 22 is wound with the third drive wire 63 and the fourth drive wire 64 in opposite directions. One end of these four drive wires is fixed and wound in their respective wire grooves, while the other end extends out of the main support 1 for connecting to and controlling the remote clamp 7 or other actuators. To ensure effective force transmission and durability, these drive wires can be made of high-strength, low-elongation materials, such as stainless steel wire or ultra-high molecular weight polyethylene fiber.

[0047] To achieve different rotation modes of the two drive columns controlled by a single operating terminal, the device can be equipped with a composite control mechanism. This control mechanism is rotatably connected to the main support 1 as a whole, and simultaneously connected to the first drive column 21 and the second drive column 22. The control mechanism is designed to perform two basic actions: first, it can rotate as a whole relative to the main support 1 around a certain axis (shaft hole 11); second, its internal moving parts can perform relative motion.

[0048] The key to this design is that the overall rotation of the control mechanism drives the first drive column 21 and the second drive column 22 to rotate in the same direction (co-directional mode); while the movement of the moving parts within the control mechanism itself drives the first drive column 21 and the second drive column 22 to rotate in opposite directions (reverse mode). This establishes a clear mechanical correspondence between the two different end-effector movement modes. For example, to trigger the co-directional rotation mode, the doctor can apply a rotational torque to the entire control mechanism; while to trigger the reverse rotation mode, the doctor can trigger the relative displacement of an adjustable component (such as a push button or lever) within the control mechanism.

[0049] In one embodiment, a handle 15 is provided on the main support 1, and a control mechanism is located on the main support 1 near the handle 15. By arranging the control mechanism near the handle 15, the doctor can easily touch and operate various control components while holding the handle firmly, thereby improving the comfort and control accuracy of long-term surgical operations.

[0050] Furthermore, combined Figure 7 This embodiment provides a detailed description of the specific connection method between the end clamp 7 and the four drive wires.

[0051] like Figure 7 As shown, a feasible connection method is as follows: the clamp body 7 can be composed of a first clamp 71 and a second clamp 72 connected to each other via a hinge shaft 73. The ends of the first drive wire 61 and the second drive wire 62 are fixedly connected to two different connection points on the first clamp 71, for example, by means of micro-balls or knots, such that the connection points of the first drive wire 61 and the second drive wire 62 are located on the left and right sides of the hinge shaft 73. Correspondingly, the third drive wire 63 and the fourth drive wire 64 are fixedly connected to the second clamp 72 in the same manner. This "cross-connection" mode, in which the same clamp arm is connected to wires from the same drive post, is a key layout for achieving motion decoupling.

[0052] Regarding the opening and closing motion of the clamp body 7, that is, the relative opposite motion of the first clamp part 71 and the second clamp part 72 around the hinge axis 73, that is, the cross motion of the first clamp part 71 and the second clamp part 72. In this motion, with Figure 7 Taking the connection relationship shown as an example, the first drive wire 61 tightens while the second drive wire 62 releases, the fourth drive wire 64 tightens while the third drive wire 63 (covered in the figure) releases, at which point the first clamp 71 and the second clamp 72 open relative to each other; the first drive wire 61 releases while the second drive wire 62 tightens, the fourth drive wire 64 releases while the third drive wire 63 tightens, at which point the first clamp 71 and the second clamp 72 move closer to each other; thus completing the clamping action on the clamp body 7.

[0053] Regarding the deflection motion of the clamp body 7, that is, the synchronous and unidirectional movement of the first clamp part 71 and the second clamp part 72 around the hinge axis 73. In this motion, it is still based on... Figure 7 Taking the connection relationship shown as an example, the first drive wire 61 tightens while the second drive wire 62 is released, the third drive wire 63 also tightens while the fourth drive wire 64 is released. At this time, the first clamp 71 and the second clamp 72 deflect to the same side simultaneously. When the first drive wire 61 is released, the second drive wire 62 tightens while the fourth drive wire 64 tightens while the third drive wire 63 is released. At this time, the first clamp 71 and the second clamp 72 deflect to the other side simultaneously. This completes the deflection action of the clamp body 7.

[0054] When the control mechanism drives the first drive column 21 and the second drive column 22 to rotate in the same direction, it generates a specific tension combination on the drive wires. Because the wires are wound in opposite directions, the rotation of a single drive column will cause one wire on it to tighten (be tightened), while the other wire relaxes (is released). Under a specific connection relationship, when the two columns rotate in the same direction, one possible state is that the first drive wire 61 and the third drive wire 63 are tightened synchronously, while the second drive wire 62 and the fourth drive wire 64 are released synchronously. Another possible state is that the first drive wire 61 and the third drive wire 63 are released synchronously, while the second drive wire 62 and the fourth drive wire 64 are tightened synchronously. This pattern of synchronously tightening or releasing the drive wires connected to the same side of the clamp body 7 corresponds precisely to the mechanical conditions required for the end clamp body 7 as a whole to perform a deflection (oscillation) action.

[0055] When the control mechanism drives the first drive column 21 and the second drive column 22 to rotate in opposite directions, the resulting tension combinations on the drive wires are drastically different. In this case, the rotation of the first drive column 21 tightens one wire and releases the other, while the reverse rotation of the second drive column 22 produces opposite tightening-releasing effects on its two wires. Through a clever initial winding direction design, one possible tension combination is that the first drive wire 61 and the fourth drive wire 64 are tightened, while the second drive wire 62 and the third drive wire 63 are released. Another possible result is that the second drive wire 62 and the third drive wire 63 are tightened, while the first drive wire 61 and the fourth drive wire 64 are released. This cross-tensioning combination pattern of the drive wires corresponds to the mechanical conditions required for the end clamp 7 to perform the opening and closing action.

[0056] To more specifically implement the two driving modes described above, the control mechanism can be designed to consist of two functional components. Specifically, the control mechanism may include a co-rotation control component 3 and a counter-rotation control component 4. The co-rotation control component 3 can be a rotating body rotatably connected to the main support 1, which is simultaneously connected to the first drive column 21 and the second drive column 22, and is configured such that its rotation axis is coaxial with the rotation axes of both the first drive column 21 and the second drive column 22. The counter-rotation control component 4 is movably mounted on the co-rotation control component 3 and is connected to both the first drive column 21 and the second drive column 22.

[0057] In actual operation, the co-rotation control component 3 serves to carry and transmit deflection commands. When deflection of the clamp 7 is required, the operator can swing or rotate the co-rotation control component 3 to make it rotate relative to the main support 1. Since the reverse rotation control component 4 is fixed on it and the two drive columns are connected through it, the entire transmission chain will drive the first drive column 21 and the second drive column 22 to rotate synchronously and in the same direction, thereby generating deflection motion as described above. In this mode, the reverse rotation control component 4 only acts as a passive connector and does not need to perform independent movements.

[0058] When it is necessary to control the opening and closing of the clamp 7, the operator can operate the reverse rotation control component 4 to make it perform specific actions relative to the same-direction rotation control component 3 to which it is attached. This relative action can take many forms. In one specific embodiment, for example, the reverse rotation control component 4 can be a set of gears that can be driven to rotate the first drive column 21 and the second drive column 22 in opposite directions simultaneously, thereby achieving independent input and execution of opening and closing control commands.

[0059] This embodiment decomposes the control mechanism into a co-rotation control component 3 and a counter-rotation control component 4, thus providing a clear and isolated physical interface for the originally complex input modes of "rotation" and "self-movement". When the doctor performs the operation, the deflection control (co-rotation) and opening and closing control (counter-rotation) can be clearly distinguished and executed independently, which greatly reduces the possibility of misoperation and improves the intuition and accuracy of making complex adjustments to the instrument posture during the surgical process.

[0060] In summary, through the above design, the multi-degree-of-freedom control device of this embodiment demonstrates remarkable inventive concept. It creatively and concisely maps the two independent degrees of freedom of motion—opening and deflection—required by the end clamp 7 to two basic rotational modes of two coaxially arranged drive columns, utilizing the composite structure of the control mechanism as a unified input interface. This "four-wire decoupling" architecture effectively avoids the complexity of setting up independent drive units for the two movements, making the overall structure of the device more compact and easier to integrate into the limited space of handheld surgical instruments. Its beneficial effects are twofold: First, it achieves highly independent and decoupled control; deflection does not interfere with the preset state of opening or closing, nor does it require readjustment, and vice versa, greatly improving the precision and intuitiveness of control. Second, the simplified core structure reduces manufacturing costs and assembly difficulty, improves the reliability and stability of the device, and provides a superior tool option for delicate surgeries such as microsurgery.

[0061] Example 2 The above-described embodiment 1 establishes a clear functional framework for controlling deflection and opening / closing movements by decomposing the control mechanism into a co-rotation control component 3 and a counter-rotation control component 4. Within this framework, in order to achieve more stable, precise, and ergonomic deflection control, it is necessary to clearly design the specific implementation method of the co-rotation control component and ensure that it has a solid support with core rotating components such as the drive column. This is to avoid control lag, vibration, or motion transmission distortion caused by loose structure or assembly errors, which are factors that urgently need to be optimized in delicate microsurgical operations.

[0062] Therefore, this embodiment provides a specific and optimized construction scheme for the co-rotation control component 3. For example... Figure 3 and Figure 4 As shown, the specific implementation of the co-rotation control assembly 3 may include a rotating shaft 31 and a deflection frame 32. The rotating shaft 31 is rotatably connected to the main support 1 via a bearing or bushing, specifically, the rotating shaft 31 is fitted into the shaft hole 11 on the main support 1, for example, by a limit bearing. Crucially, the rotation axis of the rotating shaft 31 is set to be coaxial with the rotation axes of the first drive column 21 and the second drive column 22, thereby ensuring precise alignment of the rotation axis of the entire co-rotation control assembly 3 with the drive axis of the drive columns.

[0063] The deflector 32 is fixedly connected to or integrally formed onto the rotating shaft 31. For example, the deflector 32 can be perpendicularly connected to the rotating shaft 31, forming a "T"-shaped or "L"-shaped control unit. The doctor can drive the entire rotating shaft 31 to rotate around its axis by directly swinging or pushing / pulling the deflector 32. In this embodiment, the co-rotation control component 3 is concretized as a rigid linkage consisting of the rotating shaft 31 and the deflector 32, providing the doctor with a clear, stable, and intuitive physical operation interface.

[0064] like Figure 1 and Figure 2 As shown, to further improve the support rigidity and coaxiality accuracy of the aforementioned rotating shaft 31, first drive column 21, and second drive column 22, this embodiment also integrates a dedicated mounting bracket 12 on the main support 1. The mounting bracket 12 can be, for example, an independent metal or high-strength engineering plastic component, fixed to the interior or surface of the main support 1 by means of threaded fastening, welding, or snap-fit. One end of the rotating shaft 31, the axial support section of the first drive column 21, and the axial support section of the second drive column 22 can be respectively mounted in corresponding shaft holes or bearing seats pre-drilled on the mounting bracket 12 via bearings. This means that the rotating shaft 31, the first drive column 21, and the second drive column 22 are "separately mounted" on this unified mounting bracket 12 and can each rotate independently and flexibly relative to the mounting bracket 12.

[0065] This centralized installation design provides a common, high-precision mechanical reference platform for these key rotating components. This embodiment, by introducing a unified mounting bracket 12, enables stable and convenient installation of the rotating shaft 31, the first drive column 21, and the second drive column 22, significantly simplifying the assembly process and enhancing the structural rigidity and motion stability of the entire core transmission system, laying a solid mechanical foundation for transmitting precise control forces.

[0066] In this embodiment, the reverse rotation control component 4 is mounted on the deflection frame 32. The swing of the deflection frame 32 around the rotation axis 31 drives the reverse rotation control component 4 to move. The reverse rotation control component 4 drives the first drive column 21 and the second drive column 22 to rotate synchronously in the same direction.

[0067] This embodiment, through its specific rotating shaft 31 and deflection frame 32 structure, makes the control of deflection motion extremely direct and reliable. Doctors only need to operate the single, clearly defined deflection frame 32 to achieve precise deflection angle input, resulting in intuitive human-machine interaction. More importantly, by adding a dedicated mounting bracket 12 and adopting a centralized installation method, this embodiment effectively solves the secondary problems caused by loose structures or assembly errors in traditional equipment. It greatly improves the coaxiality between the rotating shaft 31 and the two drive columns, reduces radial runout or nonlinear friction caused by unstable support, and ensures that when the deflection frame 32 is operated, power can be smoothly and with low loss transmitted to the drive columns, thereby achieving more precise and vibration-free deflection motion of the end clamp 7.

[0068] Example 3 Based on the above embodiments, this embodiment further introduces the implementation method of the reverse rotation control component 4, and provides a specific, optimized and ergonomic implementation scheme of the reverse rotation control component 4. This scheme clearly defines how to accurately and with low latency convert the doctor's manual input into the reverse rotation motion of the two drive columns.

[0069] Specifically, refer to Figures 3 to 5 The reverse rotation control component 4 may include a slider 41, a first movable link 42, and a second movable link 43. The slider 41 is slidably connected to the deflection frame 32 of the co-rotation control component 3. For example, a straight sliding track 321 may be provided on the deflection frame 32, and the slider 41 is nested within the sliding track 321 via a groove or roller, thus enabling it to slide stably along the track. One end of the first movable link 42 (e.g., via a pivot) is rotatably connected to the slider 41, and the other end is connected to the first drive column 21; similarly, one end of the second movable link 43 is also rotatably connected to the slider 41, and the other end is connected to the second drive column 22. When the doctor drives the slider 41 to slide linearly on the sliding track 321, since the two movable links are respectively connected to the two drive columns, the displacement of the slider 41 will force the first movable link 42 and the second movable link 43 to swing accordingly, thereby cleverly driving the first drive column 21 and the second drive column 22 to rotate in opposite directions. This mechanical design, which transforms linear sliding into precise reverse rotation through a linkage mechanism, has a clear motion transmission relationship and a reliable structure.

[0070] To further improve the smoothness and stability of motion transmission, the first movable link 42 can adopt a more optimized structure. For example, it can be composed of a first swing arm 421 and a second swing arm 422. One end of the first swing arm 421 is rotatably connected to the slider 41, and one end of the second swing arm 422 is fixedly connected to the first drive column 21 (e.g., by key connection, welding, or integral molding). The other ends of the first swing arm 421 and the second swing arm 422 are hinged to each other by a hinge. Similarly, the second movable link 43 can be composed of a third swing arm 431 and a fourth swing arm 432, and uses the same hinged swing arm structure to connect the slider 41 and the second drive column 22.

[0071] Specifically, the first swing arm 421 and the third swing arm 431 can be coaxially (i.e., sharing the same pivot) and rotatably connected to the slider 41. This double-swing arm hinged linkage design forms a parallelogram structure, cleverly transforming linear motion into the opposite rotational motion of the two drive columns. Compared to a simple single linkage, this increases the flexibility of the kinematic chain, making the force transmission smoother in the combined motion of the drive column rotation and the slider 41 sliding. It effectively reduces motion dead points and jamming, thus making the control feel of the opening and closing action more delicate and consistent.

[0072] It is worth mentioning that this parallelogram structure is stable when it is not in motion. It connects the deflection frame 32 and the two drive columns and can transmit torque so that the deflection frame 32 drives the two drive columns to rotate synchronously in the same direction when deflecting, thus achieving the deflection operation as described above.

[0073] like Figure 6 As shown, in order to place the operation point of the opening and closing control in a more ergonomic position, the reverse rotation control component 4 of this embodiment also includes a handle 44 for operation, a set of guide wheels and a first transmission wire 46, forming a remote wire transmission control method.

[0074] Specifically, the handle 44 is rotatably connected to the main support 1 via a drive shaft 441, for example, located near the handle 15. The guide wheel assembly is fixedly mounted on the main support 1 or the deflection frame 32 of the co-rotation control assembly 3. The first transmission wire 46 can be a high-strength steel wire, which is wound between the drive shaft 441 and the guide wheel assembly and connected to the slider 41. When the doctor pinches or rotates the handle 44, it drives the drive shaft 441 to rotate, thereby winding or releasing the first transmission wire 46. The winding and releasing action of the first transmission wire 46 is guided by the guide wheel assembly and converted into linear traction or release of the slider 41, thereby driving the slider 41 to slide. This design allows the doctor to conveniently operate the handle 44 with the thumb or forefinger of the holding hand to control the opening and closing without changing the grip posture, greatly improving the comfort and ease of operation during long surgeries.

[0075] Please see Figure 6 The guide wheel assembly in this embodiment may include a first guide wheel 451 and a second guide wheel 452. The first guide wheel 451 is located at the rotation axis of the deflection frame 32, i.e., near the axis of the rotation shaft 31; while the second guide wheel 452 is located at a position on the deflection frame 32 away from the rotation axis. The first transmission wire 46, after being led out from the drive shaft 441, passes sequentially around the first guide wheel 451 and the second guide wheel 452, and finally connects to the slider 41. In some embodiments, the guide wheel assembly further includes a third guide wheel 453, which is located between the first guide wheel 451 and the second guide wheel 452, and at the rotation axis of the deflection frame 32. After the first transmission wire 46 is led out from the drive shaft 441, it passes around the third guide wheel 453 and then to the first guide wheel 451, so that the first transmission wire 46 passes through the shaft hole 11, realizing the guiding transition of the first transmission wire 46 between the drive shaft 441 and the first guide wheel 451.

[0076] The ingenuity of this layout lies in the fact that when the doctor operates the deflection frame 32 to perform a deflection movement (i.e., the entire unidirectional rotation control assembly 3 rotates), since the "anchor point" of the first transmission wire 46—the first guide wheel 451—is located precisely at the center of rotation, the rotation of the deflection frame 32 has a negligible impact on the effective working length of the first transmission wire 46 extending from that point. This ensures that, at any deflection angle, the relationship between the input stroke (i.e., the amount of extension and retraction of the first transmission wire 46) and the output result (the displacement of the slider 41 and the rotation angle of the drive column) of the opening and closing action controlled by the handle 44 remains highly constant.

[0077] In summary, this embodiment, through its specific slider linkage mechanism, optimized articulated swing arm design, ergonomically designed remote wire drive handle, and core guide wheel assembly layout with key pulleys positioned at the rotation axis, collectively constitutes a highly sophisticated reverse rotation control solution. This embodiment provides a clear, intuitive, and linear tactile feedback for opening and closing movements. The surgeon can achieve precise adjustment of the forceps body 7's opening and closing through minute handle movements, resulting in high control accuracy. The unique guide wheel assembly layout achieves motion decoupling, ensuring that during large-amplitude deflection operations, neither the opening and closing movements are accidentally triggered, nor the pre-set opening and closing state is altered; the two movements are completely independent and do not interfere with each other. The entire system is ingeniously structured and reliably transmitted, providing a solid guarantee for the extreme requirements of instrument stability and operational intuition in microsurgery.

[0078] Example 4 This embodiment provides a further optimization scheme based on the above embodiment. The optimization scheme aims to optimize the travel path of the drive wire inside the main support 1, which will be described below.

[0079] like Figures 1 to 3 As shown, two additional sets of pulleys for guiding the drive wires can be installed inside the main support 1. For example, a first pulley set 13 can be installed near the wire exit position close to the first drive post 21 and the second drive post 22. The first pulley set 13 may include multiple small pulleys arranged side by side, which respectively support the first drive wire 61 and the second drive wire 62 led out from the first drive post 21, and the third drive wire 63 and the fourth drive wire 64 led out from the second drive post 22, and provide a smooth turning point for each wire.

[0080] As shown in the figure, since the first drive column 21 and the second drive column 22 are coaxially arranged, the four drive wires have a deviation in the height direction. Therefore, the first pulley group 13 can be divided into two or four groups, which correspond to the winding positions on the drive column. This ensures that the four drive wires can maintain a certain perpendicularity to the axis of the drive column after being led out from the drive column, thus ensuring the accuracy of the drive wire movement and avoiding interference between the drive wires.

[0081] Further along the extension direction of the drive wires, for example near a specially designed output port (which can be a smooth through hole or sleeve) on the side wall of the main support 1, a second pulley group 14 can be provided. The structure of the second pulley group 14 can be similar to that of the first pulley group 13, and its function is to further gather and guide the four drive wires guided by the first pulley group 13 to the output port.

[0082] During operation, the first drive wire 61 to the fourth drive wire 64 are led out from their respective drive posts, first bypassing the corresponding pulleys on the first pulley group 13 to complete the first turning and path separation, and then extending to the second pulley group 14 in a more parallel and orderly manner. After a second guidance, they finally extend neatly side by side from the output port. These two pulley groups fixed on the main support 1 together form a smooth wire transition channel. In this embodiment, the addition of the first pulley group 13 and the second pulley group 14 effectively controls the bending radius of each drive wire, greatly reducing the possibility of unnecessary friction and interference between the wires and between the wires and the inner wall of the main support 1.

[0083] This embodiment systematically standardizes the drive wire path by adding a first pulley group 13 and a second pulley group 14 inside the main support 1. This optimization solves potential friction, wear, and reliability problems caused by disordered wire movement, ensuring continuous stability and smoothness of power transmission under long-term, high-intensity use, and extending the service life of key moving parts.

[0084] Example 5 As a further improvement, this embodiment adds a rotational degree of freedom to the clamp body 7 based on the above embodiment, thereby forming a more complete three-degree-of-freedom surgical control system.

[0085] To enable the end-effector 7 to rotate about its extension axis, this embodiment extends the design based on the above embodiment. (See reference...) Figure 8 An extension tube 16 can be rotatably connected to the main support 1. One end of the extension tube 16 is rotatably engaged with a mounting hole on the main support 1 via a bearing or other rotating pair structure, and its axis is preferably arranged perpendicular to the rotation axis of the drive column. The other end of the extension tube 16 extends out of the main support 1 for final connection to the clamp body 7. After the first drive wire 61 to the fourth drive wire 64 extend from the output port of the main support 1, they pass through the internal cavity of the extension tube 16 and extend to the clamp body 7 at the end, where they are connected.

[0086] To drive the extension tube 16 to rotate, an independent rotation control component 5 can be installed on one side of the main support 1. For example... Figure 8 As shown, the self-rotation control component 5 may include an adjustment knob 51 (e.g., a rotating wheel with anti-slip texture) and a second transmission wire 52. The adjustment knob 51 is rotatably connected to the main support 1 via a short shaft, and its position can be set near the handle 15 for easy operation by the doctor's thumb or forefinger. The second transmission wire 52 may be made of high-strength fine wire, one end of which is fixedly connected (e.g., wound or knotted) to the winding portion of the adjustment knob 51, and the other end is connected to the extension tube 16 in an appropriate manner. One feasible connection method is that the second transmission wire 52 bypasses the pulley located at the root of the extension tube 16 or is directly wound into a pre-set groove on the surface of the extension tube 16, and its end is fixed to the main support 1 or the extension tube 16, thereby forming a closed transmission ring.

[0087] In one embodiment, the second drive wire 52 can be a belt, which is wound between the winding portion of the adjusting knob 51 and the extension tube 16, similar to the transmission effect of a conveyor belt.

[0088] When the doctor needs to adjust the circumferential angle of the forceps 7, the adjustment knob 51 can be turned. Turning the adjustment knob 51 will wind or release the second drive wire 52. Through the traction of the second drive wire 52, the extension tube 16 is driven to rotate relative to the main support 1 around its own axis. Since four drive wires run through the inside of the extension tube 16, when the extension tube 16 rotates, it will drive all the drive wires inside and the forceps 7 at the end to rotate together, thus realizing the third degree of freedom of the forceps 7's overall rotation.

[0089] This embodiment successfully increases the third degree of freedom of the forceps 7's rotation around its axis by introducing a rotatable extension tube 16 and an independent rotation control assembly 5 consisting of an adjustment knob 51 and a second transmission wire 52. This expansion makes the surgical instrument more comprehensive in function. Based on the surgeon's already proficient control of opening, closing, and deflection, a simple, independent knob operation allows for precise adjustment of the forceps' "orientation" without altering the overall grip posture and feed direction, thus enabling the surgeon to address more complex surgical anatomical angles and operational needs.

[0090] Example 6 like Figure 8 As shown, this embodiment provides a surgical instrument, which includes the multi-degree-of-freedom control device mentioned in the above embodiment, and has a clamp body 7. The clamp body 7 is connected to the extension tube 16 of the multi-degree-of-freedom control device. The clamp body 7 is used to be controlled by the multi-degree-of-freedom control device, thereby realizing the above-mentioned operations such as opening and closing, deflection, and rotation.

[0091] like Figure 7 As shown, the clamp body 7 includes a first clamping part 71 and a second clamping part 72 hinged together by a hinge shaft 73. The first clamping part 71 is connected to the first drive wire 61 and the second drive wire 62, and the second clamping part 72 is connected to the third drive wire 63 and the fourth drive wire 64. For the specific connection method, please refer to the above embodiment, which will not be repeated here.

[0092] In this embodiment, the multi-degree-of-freedom control device can tighten the first drive wire 61 and the fourth drive wire 64 while releasing the second drive wire 62 and the third drive wire 63 through the same-direction rotation control component 3, or tighten the second drive wire 62 and the third drive wire 63 while releasing the first drive wire 61 and the fourth drive wire 64, so that the first clamp 71 and the second clamp 72 can deflect around the hinge axis 73. The multi-degree-of-freedom control device can tighten the first drive wire 61 and the third drive wire 63 while releasing the second drive wire 62 and the fourth drive wire 64 through the reverse rotation control component 4, or release the first drive wire 61 and the third drive wire 63 while tightening the second drive wire 62 and the fourth drive wire 64, so that the first clamp 71 and the second clamp 72 can open and close around the hinge axis 73.

[0093] This surgical instrument constructs a complete and efficient surgical operating system, which clearly defines the connection logic between the multi-degree-of-freedom control device and the end effector 7—"cross-connection for opening and closing, and synchronous operation on the same side for deflection." This clear action correspondence verifies that the four-wire decoupled layout of this embodiment can precisely and independently drive the end effector to complete complex compound movements. This allows a single instrument to meet the needs of multi-angle and multi-depth surgical operations, solving the problems of frequent changes, complex operation, and excessive size caused by the single degree of freedom or coupling issues in traditional solutions, thereby significantly improving the efficiency, precision, and ease of operation of microsurgery.

[0094] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-degree-of-freedom control device, characterized in that, include: Main support; The first drive post has a first drive wire and a second drive wire wound around its surface in opposite directions. The first drive wire and the second drive wire extend to the outside of the main support for connecting to the clamp body. The second drive column is rotatably connected to the first drive column on the same axis. A third drive wire and a fourth drive wire are wound around its surface in opposite directions. The third drive wire and the fourth drive wire extend to the outside of the main support and are used to connect the clamp body. The control mechanism is rotatably connected to the main support and to the first drive column and the second drive column respectively. The control mechanism can rotate relative to the main support to drive the first drive column and the second drive column to rotate in the same direction, and can move on its own to drive the first drive column and the second drive column to rotate in opposite directions. When the first drive column and the second drive column rotate in the same direction, the first drive wire and the third drive wire are tightened, and the second drive wire and the fourth drive wire are released; or the second drive wire and the fourth drive wire are tightened, and the first drive wire and the third drive wire are released. When the first drive column and the second drive column rotate in opposite directions, the first drive wire and the fourth drive wire are tightened, and the second drive wire and the third drive wire are released; or the second drive wire and the third drive wire are tightened, and the first drive wire and the fourth drive wire are released.

2. The multi-degree-of-freedom control device according to claim 1, characterized in that, The control mechanism includes: A co-rotation control assembly is rotatably connected to the main support, and the rotation axis of the co-rotation control assembly is coaxially arranged with the first drive column and the second drive column; A reverse rotation control assembly is movably mounted on the same-direction rotation control assembly and is respectively connected to the first drive column and the second drive column; The same-direction rotation control component can drive the first drive column and the second drive column to rotate in the same direction during rotation through the opposite-direction rotation control component; the opposite-direction rotation control component can move relative to the same-direction rotation control component to drive the first drive column and the second drive column to rotate in opposite directions.

3. The multi-degree-of-freedom control device according to claim 2, characterized in that, The same-direction rotation control component includes: A rotating shaft is rotatably connected to the main bracket and is coaxially arranged with the first drive column and the second drive column; A deflector, connected to the rotating shaft, is used to control the rotation of the rotating shaft.

4. The multi-degree-of-freedom control device according to claim 3, characterized in that, The main support is provided with a mounting bracket, and the rotating shaft, the first drive column and the second drive column are respectively mounted on the mounting bracket and can rotate relative to the mounting bracket.

5. The multi-degree-of-freedom control device according to claim 2, characterized in that, The reverse rotation control component includes: The slider is slidably connected to the same-direction rotation control component; The first movable link is connected to the slider at one end and to the first drive column at the other end; The second movable link is connected to the slider at one end and to the second drive column at the other end; The slider can slide relative to the same-direction rotation control component, so that the relative movement of the first movable link and the second movable link can drive the first drive column and the second drive column to rotate in opposite directions.

6. The multi-degree-of-freedom control device according to claim 5, characterized in that, The first movable link includes a first swing arm and a second swing arm. The first swing arm is rotatably connected to the slider, and the second swing arm is connected to the first drive column and hinged to the first swing arm. The second movable link includes a third swing arm and a fourth swing arm. The third swing arm is rotatably connected to the slider, and the fourth swing arm is connected to the second drive column and hinged to the third swing arm. The first swing arm and the third swing arm are rotatably connected to the slider on the same axis.

7. The multi-degree-of-freedom control device according to claim 5, characterized in that, The reverse rotation control component also includes: The handle is rotatably connected to the main bracket via a drive shaft; The guide wheel assembly is mounted on the same-direction rotation control assembly; A first transmission wire is wound around the drive shaft and the guide wheel assembly, and is connected to the slider; The handle is movable to pull the first transmission wire around the guide wheel assembly via the drive shaft, thereby causing the slider to slide relative to the same-direction rotation control component.

8. The multi-degree-of-freedom control device according to claim 7, characterized in that, The guide wheel assembly includes: The first guide wheel is located at the rotation axis of the same-direction rotation control assembly; The second guide wheel is located at a position away from the rotation axis of the same-direction rotation control assembly; The co-rotation control assembly has a sliding track, the slider is disposed on the sliding track, and at least a portion of the first transmission wire is wound between the first guide wheel and the second guide wheel and corresponds to the sliding track.

9. The multi-degree-of-freedom control device according to any one of claims 1 to 8, characterized in that, The main support is provided with a first pulley group and a second pulley group, and one side of the main support has an output port; The first drive wire, the second drive wire, the third drive wire, and the fourth drive wire extend from the output port, respectively, bypassing the first pulley group and the second pulley group.

10. The multi-degree-of-freedom control device according to any one of claims 1 to 8, characterized in that, The main support is provided with an extension tube for extending to connect with the clamp body. The extension tube is rotatably connected to the main support. The first drive wire, the second drive wire, the third drive wire, and the fourth drive wire respectively pass through the extension tube. A rotation control component is provided on one side of the main support, and the rotation control component is connected to the extension tube to drive the extension tube to rotate relative to the main support.

11. The multi-degree-of-freedom control device according to claim 10, characterized in that, The rotation control component includes: The adjustment knob is connected to the main support and is rotated by an external force. The second transmission wire is wound between the adjustment knob and the extension tube. The second transmission wire drives the extension tube to rotate through the rotation of the adjustment knob.

12. The multi-degree-of-freedom control device according to any one of claims 1 to 8, characterized in that, A handle is provided on the main support, and the control mechanism is located on the main support near the handle.

13. A surgical instrument, characterized in that, include: The multi-degree-of-freedom control device as described in any one of claims 1 to 12; The clamp body is connected to the multi-degree-of-freedom control device; The clamp body includes a first clamping part and a second clamping part that are hinged to each other. The first clamping part is connected to the first drive wire and the second drive wire, and the second clamping part is connected to the third drive wire and the fourth drive wire. The multi-degree-of-freedom control device can tighten the first drive wire and the third drive wire while releasing the second drive wire and the fourth drive wire through the control mechanism, or tighten the second drive wire and the fourth drive wire while releasing the first drive wire and the third drive wire, so that the first clamp and the second clamp can open and close around the hinge axis. The multi-degree-of-freedom manipulation device can tighten the first drive wire and the fourth drive wire while releasing the second drive wire and the third drive wire through the control mechanism, or tighten the second drive wire and the third drive wire while releasing the first drive wire and the fourth drive wire, so that the first clamp and the second clamp can deflect around the hinge axis.

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