Angle-adjustable clamping type surgical instrument with self-locking function

Abstract

The application relates to an angle-adjusting clamping type surgical instrument with a self-locking function and belongs to the technical field of medical instruments. The angle-adjusting clamping type surgical instrument comprises a handle assembly, an angle-adjusting joint and a chuck assembly. The angle-adjusting joint comprises a first joint segment and a second joint segment which are hingedly connected to each other. The handle assembly, the first joint segment, the second joint segment and the chuck assembly are sequentially connected. A flexible transmission assembly is transmissionally connected at one end to the chuck assembly and at the other end to the handle assembly. A joint locking assembly comprises a manual driving member and a transmission connecting rod. The length direction of the transmission connecting rod is arranged along the length direction of the first joint segment. One end of the transmission connecting rod is hingedly connected to the second joint segment, and the other end is connected to the manual driving member. The manual driving member is arranged on the handle assembly. The application can adjust the angle between the chuck assembly and the handle assembly and realize self-locking after the angle is adjusted in place, so that the adaptability of the clamping type surgical instrument to complex anatomical structures is improved.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and in particular to an angle-adjusting clamping surgical instrument with a self-locking function. Background Technology

[0002] In surgical procedures, clamping surgical instruments such as surgical forceps, tissue clamps, vascular sidewall clamps, and surgical scissors are commonly used medical devices. These instruments typically include a surgical handle for the surgeon to operate on and a distal clamp for performing specific actions. When using these instruments, the surgeon usually holds the surgical handle and drives its movement through finger movements (such as pinching and releasing). This movement is transmitted through the instrument's internal transmission structure to the distal clamp, which then opens or closes, thereby enabling various surgical operations such as clamping, blocking, or separating blood vessels, tissues, and other lesions.

[0003] Currently, in existing clamping surgical instruments, the connection between the surgical handle and the distal clamp is usually a rigid structure, which is only used to transmit the driving force between the surgical handle and the distal clamp in order to open and close the distal clamp.

[0004] Regarding the aforementioned technologies, in actual clinical applications, when faced with complex human anatomical structures (such as layered vascular tissue) or deep and narrow surgical cavities, due to the fixed structure of existing clamping surgical instruments, in order for the distal clamp to accurately position and clamp the target tissue, doctors often need to twist their wrists and change their standing posture to accommodate the surgical instruments. This not only easily leads to fatigue and strain on the doctor's hands, but also easily obstructs the laparoscopic view or scratches surrounding normal organs due to the left and right deviation of the surgical handle, increasing the surgical risk. Summary of the Invention

[0005] This application provides an angle-adjustable clamping surgical instrument with a self-locking function. The purpose is to enable flexible adjustment of the angle between the clamping head assembly and the handle assembly, and to stabilize and self-lock the angle after it is adjusted to the correct position, thereby improving the adaptability of the clamping surgical instrument to complex anatomical structures.

[0006] This application provides a self-locking angle-adjusting clamping surgical instrument with the following technical solution: An adjustable clamping surgical instrument with a self-locking function includes: a handle assembly, an adjustable joint, and a clamp assembly. The adjustable joint includes a first joint segment and a second joint segment that are hinged to each other. The handle assembly, the first joint segment, the second joint segment, and the clamp assembly are sequentially connected. A flexible transmission assembly is driven at one end to the clamp assembly and at the other end to the handle assembly. The flexible transmission assembly is used to transmit the movement of the handle assembly to pull the clamp assembly to open and close. A joint locking assembly includes a manual drive and a transmission link. The transmission link is arranged along the length direction of the first joint segment, and one end of the transmission link is hinged to the second joint segment. The other end is connected to the manual drive. The manual drive is disposed on the handle assembly and is used to drive the transmission link to move along its own length direction to pull the second joint segment to rotate relative to the first joint segment. After the drive stops, the manual drive locks the position of the transmission link.

[0007] By adopting the above technical solution, firstly, based on the setting of the first joint segment and the second joint segment that are hinged to each other, the handle assembly and the clamp assembly can rotate relative to each other, thereby changing the angle between the front clamp assembly and the rear handle assembly, so that the user can flexibly select the appropriate angle according to the anatomical characteristics of the surgical site.

[0008] During the angle adjustment process described above, the manual drive unit can drive the transmission link to move along its own length. Since one end of the transmission link is hinged to the second joint segment, the axial movement of the transmission link can cause the second joint segment to rotate relative to the first joint segment, thus converting the operation of the manual drive unit into angle deflection. Simultaneously, when the manual drive unit is stationary, it can restrict the movement of the transmission link. At this time, when the second joint segment is subjected to an external load, it cannot drive the transmission link to move, thus preventing the second joint segment from rotating. This allows the angle of the adjustment joint to be stably locked at the set position.

[0009] Based on this, due to its inherent flexibility, the flexible transmission component will not interfere with the angle adjustment before, during, or after the angle adjustment process, and will maintain the transmission of opening and closing power to the chuck assembly at all angles.

[0010] Therefore, this angle-adjustable clamping surgical instrument not only achieves angle adjustment but also has an angle self-locking function, which improves its adaptability to complex anatomical structures and reduces hand fatigue caused by doctors having to accommodate the surgical instrument.

[0011] Optionally, the manual drive component includes a locking bolt and a threaded sleeve. The threaded sleeve is coaxially sleeved on the locking bolt, and the locking bolt is screwed to the threaded sleeve. The locking bolt is rotatably engaged with the handle assembly, and the threaded sleeve is slidably engaged with the handle assembly along its own axial direction. The threaded sleeve is axially arranged along the length direction of the transmission link, and one end of the transmission link is connected to the threaded sleeve.

[0012] By adopting the above technical solution, the locking bolt and the handle assembly are rotatably engaged and can rotate, while the threaded sleeve and the handle assembly are axially slidingly engaged and their circumferential rotation is restricted. Therefore, when the locking bolt rotates, the engagement of the threaded pair converts the rotational motion of the locking bolt into the linear motion of the threaded sleeve along its own axis, which in turn pulls the transmission rod connected to it to move axially. This can drive the second joint segment to rotate in order to achieve the angle adjustment of the chuck assembly.

[0013] Based on this, since the threaded pair itself has mechanical self-locking characteristics, when the angle of the chuck assembly is adjusted to the correct position, the external loads such as clamping force and pulling force borne by the chuck assembly during the surgical operation are transmitted to the threaded sleeve through the transmission link to form an axial reaction force that is insufficient to overcome the self-locking friction torque of the threaded pair. The locking bolt will not rotate in the opposite direction, thereby automatically and stably locking the angle of the chuck assembly without slippage or springback.

[0014] Optionally, the nut of the locking bolt is located along its own axial direction on the side of the handle assembly opposite to the first joint segment.

[0015] By adopting the above technical solution, the locking bolt nut is located at the rear end of the handle assembly and exposed outside the surgical instrument, away from the front surgical field of view, and will not be obstructed by human tissue or puncture cannulas during surgery. Therefore, during surgery, the user can touch and rotate the nut with one hand, thereby quickly adjusting the angle of the chuck assembly without interrupting the ongoing surgical procedure.

[0016] Optionally, a hinge shaft is provided between the first joint segment and the second joint segment. The hinge shaft passes through the first joint segment along its own axial direction and is fixedly connected to the second joint segment. The first joint segment is rotatably connected to the hinge shaft.

[0017] By adopting the above technical solution, the hinge shaft is set to allow the second joint segment to rotate only in a single plane relative to the first joint segment, thereby limiting the rotational freedom of the second joint segment, avoiding unnecessary left and right swaying of the chuck assembly, and reducing the risk of the chuck assembly shifting left and right and scraping organs or obstructing the endoscopic view.

[0018] Optionally, the handle assembly includes a fixed handle, a movable handle, and a handle base. One end of the fixed handle along its length is fixedly connected to the handle base, and one end of the movable handle along its length is hinged to the fixed handle. The flexible transmission assembly is drively connected to the movable handle. The manual drive component is disposed on the handle base, and one end of the first joint segment is fixedly connected to the handle base. A multi-position engagement assembly is provided between the fixed handle and the movable handle. The multi-position engagement assembly is used to lock the rotational position of the movable handle relative to the fixed handle in one of a plurality of preset positions.

[0019] By adopting the above technical solution, the user squeezes the movable handle to make it rotate around the hinge point relative to the fixed handle. This rotation is transmitted to the chuck assembly via the flexible transmission component to control the opening and closing of the chuck assembly, thereby realizing the clamping operation.

[0020] Based on this, the design of the multi-position occlusal component allows the movable handle to be fixed at different rotation angles, thereby placing the clamping component at the corresponding opening angle. This allows the doctor to maintain stable clamping of the clamping component without continuously squeezing the handle after clamping the target tissue, thereby reducing hand fatigue caused by long-term surgery and avoiding fluctuations in clamping force caused by hand fatigue during clamping, thus improving the stability of the clamping force of the clamping component on the target tissue.

[0021] Optionally, the multi-position engagement assembly includes an engagement segment and a shift segment; one end of the engagement segment is fixedly connected to the fixed handle along its own length direction, and the other end extends toward the movable handle, with engagement teeth provided on the side wall of the engagement segment; one end of the shift segment is connected to the movable handle along its own length direction, and the other end extends toward the fixed handle, with a plurality of shift teeth provided on the side wall of the shift segment, and the plurality of shift teeth are arranged sequentially along the length direction of the shift segment; when the movable handle rotates toward the fixed handle, the engagement teeth sequentially engage with the plurality of shift teeth.

[0022] By employing the above technical solution, when the user squeezes the movable handle until the clamping assembly clamps the target tissue, the biting teeth on the biting section engage with the corresponding locking teeth on the locking section, locking the movable handle at the current opening and closing range. The user can maintain a continuous and stable clamping of the target tissue without continuously applying force to squeeze the handle assembly. Since several locking teeth are sequentially arranged along the length of the locking section, the user can also select different locking positions according to the required clamping force, thereby reducing hand strain and operational fatigue during prolonged surgeries.

[0023] Optionally, the flexible transmission assembly includes a steel wire rope and a rigid flexible sleeve. One end of the rigid flexible sleeve is connected to the handle assembly, and the other end is connected to the clamp assembly. The steel wire rope is coaxially inserted inside the rigid flexible sleeve. One end of the steel wire rope is drivenly connected to the handle assembly, and the other end is drivenly connected to the clamp assembly.

[0024] By adopting the above technical solution, the rigid flexible sleeve provides guidance and protection for the steel wire rope coaxially inserted inside, so that the bending shape of the steel wire rope is guided by the structural constraints of the rigid flexible sleeve and the angle adjustment joint.

[0025] Therefore, the steel wire rope itself does not bear the angle-fixed support load, but only transmits the tension along its own length direction when the handle assembly is squeezed. When the angle adjustment joint is bent to any angle, it will not be twisted, squeezed or jammed due to bending, thus ensuring that the opening and closing transmission of the clamp assembly is always smooth in all angle states.

[0026] Optionally, the chuck assembly includes a fixed chuck, a movable chuck, and a chuck seat. One end of the fixed chuck is fixedly connected to the chuck seat along its length, and one end of the movable chuck is hinged to the chuck seat along its length. One end of the second joint segment is connected to the chuck seat. One end of the rigid flexible sleeve is connected to the chuck seat. A pulling transmission component is provided between the steel wire rope and the movable chuck. One end of the pulling transmission component is connected to the steel wire rope, and the other end is hinged to the movable chuck. The pulling transmission component slides along the axial direction of the steel wire rope with the chuck seat.

[0027] By adopting the above technical solution, the fixed chuck and the chuck seat are fixedly connected to provide a stable clamping base surface, and the movable chuck is hinged to the chuck seat, which can rotate relative to the fixed chuck around the hinge point under traction to realize the opening and closing of the clamp.

[0028] Based on this, the pulling transmission component converts the axial tension of the wire rope into a rotational closing force of the movable clamp around the hinge point. At the same time, the sliding fit design of the pulling transmission component along the clamp seat ensures the smoothness and guidance of force transmission, avoids the wire rope from shifting or getting stuck at the end, and ensures the accuracy and smoothness of the opening and closing action of the clamp assembly.

[0029] Optionally, the pulling transmission component includes a linkage slide rod and a pressure spring. The chuck seat has a second hole, which is coaxially connected to the rigid flexible sleeve. The linkage slide rod is coaxially disposed in the second hole and slides along its own axis against the inner wall of the second hole. One end of the linkage slide rod is coaxially connected to the steel wire rope, and the other end is provided with a hinged long strip. One end of the hinged long strip is hinged to the linkage slide rod, and the other end is hinged to the movable chuck. The pressure spring is coaxially sleeved on the outside of the steel wire rope, and one end of the pressure spring abuts against the linkage slide rod, while the other end abuts against the inner wall of the rigid flexible sleeve.

[0030] By adopting the above technical solution, the linkage slide rod slides axially in the second hole, transmitting the axial tension of the steel wire rope to the hinged long strip. The hinged long strip, as a motion conversion component, converts the axial linear motion of the linkage slide rod into the rotation of the movable clamp around the hinge point, thereby completing the opening and closing motion of the clamp assembly.

[0031] Building upon this, the pressure spring provides a continuous resetting force to the linkage slide. When the user releases the tension of the steel wire rope by releasing the handle, the pressure spring releases its elastic potential energy, pushing the linkage slide in the opposite direction, which in turn causes the movable clamp to automatically open and reset. This allows angle-adjustable clamping surgical instruments to quickly and smoothly release the clamped tissue when release is needed, improving the continuity of surgical procedures.

[0032] Optionally, the manual drive component includes a pull shaft and a friction damping tube. The pull shaft and the friction damping tube are coaxially inserted and engaged, and the pull shaft slides along its own axial direction with the friction damping tube. The friction damping tube is used to apply frictional resistance to the pull shaft. The friction damping tube is fixed on the handle assembly. The axial direction of the pull shaft is arranged along the length direction of the transmission link, and one end of the transmission link is connected to the pull shaft.

[0033] By adopting the above technical solution, the friction damping tube is fixed on the handle assembly, and the pull shaft slides with it along its own axis. The user can perform linear push and pull operations along the axis of the pull shaft. The pull shaft drives the transmission linkage to move synchronously along the axis, thereby driving the second joint segment to rotate around the first joint segment to achieve angle adjustment.

[0034] During this process, the friction damping tube applies a constant frictional resistance to the pull shaft: when the user actively drives the pull shaft, the applied pushing and pulling force is greater than the frictional resistance, and the pull shaft slides smoothly to complete the adjustment; when the user stops driving the pull shaft, the axial reaction force formed by the external load borne by the clamp assembly during the operation and transmitted to the pull shaft through the transmission link is usually less than the static frictional resistance of the friction damping tube, and the pull shaft cannot slide on its own, thus stabilizing and locking the angle at the set position.

[0035] In summary, this application includes at least one of the following beneficial technical effects: 1. This application, through the cooperative arrangement of an adjustable angle joint and a joint locking component, allows the clamping assembly to rotate relative to the handle assembly, thereby adjusting the angle of the clamping assembly, and locking the angle of the clamping assembly after adjustment. Thus, during surgery, the surgeon can freely change the angle of the clamping assembly according to complex anatomical structures, thereby improving the adaptability of adjustable angle clamping surgical instruments to complex anatomical structures and reducing hand fatigue caused by accommodating surgical instruments.

[0036] 2. This application employs an independent design for the flexible transmission component and the angle-adjusting joint, ensuring that the angle adjustment and opening / closing control of the clamp assembly are independent of each other. This allows the flexible transmission component to adapt to the bending shape of the angle-adjusting joint regardless of its bending angle, preventing twisting, compression, or jamming. This ensures stable power transmission between the handle assembly and the clamp assembly at any bending angle, thereby guaranteeing the efficiency and consistency of force transmission for the opening and closing of the clamp assembly in angle-adjusting surgical instruments at various bending angles.

[0037] 3. This application, through the structural design of the multi-position occlusal component, enables the chuck assembly to automatically lock the movable handle at the corresponding opening and closing range after clamping the target tissue. This allows the doctor to maintain continuous and stable clamping of the target tissue by the chuck assembly without continuously applying force to squeeze the handle. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall structure of the angle-adjusting clamping surgical instrument of Embodiment 1 of this application. Figure 2 This is a side view of the angle-adjusting clamping surgical instrument of Embodiment 1 of this application.

[0039] Figure 3 This is a partial structural schematic diagram of the angle-adjusting clamping surgical instrument of Embodiment 1 of this application.

[0040] Figure 4 This is a top view of the angle-adjusting clamping surgical instrument of Embodiment 1 of this application.

[0041] Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure at position AA.

[0042] Figure 6 yes Figure 5 A partially enlarged schematic diagram of the joint locking assembly.

[0043] Figure 7This is a front view structural diagram of the angle-adjusting clamping surgical instrument of Embodiment 1 of this application.

[0044] Figure 8 yes Figure 7 A partial schematic diagram of the cross-sectional structure at the CC position.

[0045] Figure 9 yes Figure 4 A partial schematic diagram of the cross-sectional structure at position BB.

[0046] Figure 10 This is a partial cross-sectional view of the angle-adjusting clamping surgical instrument of Embodiment 2 of this application.

[0047] In the figure, 1 is the handle assembly; 11 is the fixed handle; 12 is the movable handle; 13 is the handle base; 131 is the joint hole; 132 is the first hole; 14 is the first annular finger sleeve; and 15 is the second annular finger sleeve. 2. Angle joint; 21. First joint segment; 211. Insertion groove; 212. Clearance hole; 22. Second joint segment; 23. Horizontal hinge; 231. Insert plate; 232. Hinge shaft; 3. Chuck assembly; 31. Fixed chuck; 32. Movable chuck; 33. Chuck base; 331. Second hole; 4. Flexible transmission component; 41. Rigid flexible sleeve; 411. First fixed tube; 412. Flexible connecting section; 413. Second fixed tube; 42. Steel wire rope; 43. Power transmission component; 431. Guide slide rod; 432. Extension rod; 44. Pull transmission component; 441. Linkage slide rod; 442. Hinge strip; 443. Pressure spring; 5. Joint locking assembly; 51. Manual drive component; 511. Locking bolt; 512. Threaded sleeve; 513. Pull shaft; 5131. Anti-slip cap; 514. Friction damping tube; 5141. Friction damping layer; 52. Transmission connecting rod; 521. Coaxial rod; 522. Eccentric rod; 6. Multi-position bite assembly; 61. Biting section; 611. Biting tooth; 612. Guide ramp; 62. Positioning section; 621. Positioning tooth; 622. Adaptive ramp. Detailed Implementation

[0048] The following is in conjunction with the appendix Figure 1 - Appendix Figure 10 This application will be described in further detail below.

[0049] Example 1: An angle-adjusting clamping surgical instrument with self-locking function, referring to... Figure 1It includes a handle assembly 1, an angle adjustment joint 2, a clamp assembly 3, and a flexible transmission assembly 4. The handle assembly 1, the angle adjustment joint 2, and the clamp assembly 3 are connected in sequence. One end of the flexible transmission assembly 4 is connected to the handle assembly 1, and the other end is connected to the clamp assembly 3. A joint locking assembly 5 is provided on the angle adjustment joint 2.

[0050] In this structural design, the handle assembly 1 is held by the user. When the user drives the handle assembly 1, the corresponding clamp assembly 3 moves synchronously under the action of the corresponding flexible transmission assembly 4 to open and close the corresponding clamp. Furthermore, the angle adjustment joint 2 allows the handle assembly 1 and the clamp assembly 3 to rotate relative to each other to achieve angle adjustment. The corresponding joint locking assembly 5 can lock the angle adjustment joint 2 to fix the adjusted angle. Before, during, and after angle adjustment, the flexible transmission assembly 4, due to its flexibility, will not interfere with the angle adjustment and can ensure the transmission function before and after angle adjustment.

[0051] Reference Figure 1 The handle assembly 1 includes a fixed handle 11, a movable handle 12, and a handle base 13. One end of the fixed handle 11 along its own length is fixedly connected to the handle base 13, and one end of the movable handle 12 along its own length is hinged to the fixed handle 11. The flexible transmission assembly 4 is connected to the movable handle 12 in a transmission manner.

[0052] Based on the structural design of the handle assembly 1, the user can rotate the movable handle 12 around the hinge point relative to the fixed handle 11 by squeezing it. This rotational motion is transmitted to the clamp assembly 3 through the flexible transmission assembly 4 to control the opening and closing of the clamp.

[0053] In this embodiment, refer to Figure 1 A first annular finger sleeve 14 is provided at one end of the fixed handle 11 away from the handle base 13 along its own length direction, and the first annular finger sleeve 14 is fixedly connected to the fixed handle 11. A second annular finger sleeve 15 is provided at one end of the movable handle 12 away from the fixed handle 11 along its own length direction, and the second annular finger sleeve 15 is fixedly connected to the movable handle 12.

[0054] Based on the arrangement of the first ring finger sleeve 14 and the second ring finger sleeve 15, the user's fingers can be inserted into the first ring finger sleeve 14 and the second ring finger sleeve 15 respectively for operation, thereby improving the stability of the grip.

[0055] In this embodiment, refer to Figure 1A multi-position engagement component 6 is provided between the movable handle 12 and the fixed handle 11. The multi-position engagement component 6 includes an engagement section 61 and a position section 62. The length direction of the engagement section 61 is perpendicular to the length direction of the fixed handle 11, and one end of the engagement section 61 is fixedly connected to the fixed handle 11 along its own length direction, while the other end extends toward the movable handle 12. The length direction of the position section 62 is perpendicular to the length direction of the movable handle 12, and one end of the position section 62 is connected to the movable handle 12 along its own length direction, while the other end extends toward the fixed handle 11.

[0056] Reference Figure 1 and Figure 2 The occlusal section 61 has occlusal teeth 611 on its side wall, and the gear shift section 62 has several gear shift teeth 621 on its side wall. The several gear shift teeth 621 are arranged sequentially along the length of the gear shift section 62.

[0057] Reference Figure 1 and Figure 2 When the movable handle 12 rotates toward the fixed handle 11, the meshing teeth 611 on the meshing section 61 engage with a number of gear teeth 621 on the gear section 62 in sequence.

[0058] Based on the structural design of the multi-position biting component 6, when the user pinches the movable handle 12 until the clamping component 3 clamps the target tissue, the biting teeth 611 on the biting section 61 engage with the corresponding gear teeth 621 on the gear section 62, so that the movable handle 12 is locked at the current opening and closing range.

[0059] In this embodiment, refer to Figure 1 and Figure 2 The engagement section 61 has a guide slope 612 at one end along its length toward the movable handle 12, and the engagement teeth 611 are flush with the guide slope 612 on one side facing the gear position section 62. The gear position section 62 has an adapter slope 622 at one end along its length toward the fixed handle 11, and several gear teeth 621 are parallel to the adapter slope 622 on one side facing the engagement section 61.

[0060] Reference Figure 1 and Figure 2 When the movable handle 12 rotates toward the fixed handle 11, the guide slope 612 first engages with the adapting slope 622. As the movable handle 12 continues to rotate, the guide slope 612 and the adapting slope 622 slide against each other, causing the engagement section 61 and the gear position section 62 to elastically shift until the side of the engagement section 61 and the side of the gear position section 62 are in contact. Based on this, as the movable handle 12 continues to rotate, the engagement teeth 611 sequentially engage with all the gear position teeth 621, thus achieving the gear shifting operation. Therefore, this design improves the smoothness of the gear shifting operation.

[0061] It should be noted that when it is necessary to release the lock of the multi-position engagement component 6 to loosen the clamp component 3, the movable handle 12 or the fixed handle 11 can be turned to separate the engagement section 61 from the gear section 62, thereby separating the engagement teeth 611 from the corresponding gear teeth 621. At this time, the lock of the multi-position engagement component 6 is released, and the movable handle 12 returns to a free rotation state.

[0062] Reference Figure 3 and Figure 4 The angle adjustment joint 2 includes a first joint segment 21 and a second joint segment 22. The handle assembly 1, the first joint segment 21, the second joint segment 22 and the clamp assembly 3 are arranged in sequence. One end of the first joint segment 21 along its own length direction is connected to the handle seat 13, and one end of the second joint segment 22 along its own length direction is connected to the clamp assembly 3. The end of the first joint segment 21 away from the handle seat 13 is hinged to the end of the second joint segment 22 away from the clamp assembly 3.

[0063] Reference Figure 3 A horizontal hinge 23 is provided between the first joint segment 21 and the second joint segment 22. The horizontal hinge 23 includes a plate 231 and a hinge shaft 232. The plate 231 is located at the end of the second joint segment 22 facing the first joint segment 21, and the plate 231 is fixedly connected to the second joint segment 22. The hinge shaft 232 is vertically arranged, the plate 231 is horizontally arranged, and the hinge shaft 232 passes through the plate 231 along its own axis and is fixedly connected to the plate 231.

[0064] Reference Figure 3 The first joint segment 21 has a insertion groove 211 at one end facing the second joint segment 22. The depth direction of the insertion groove 211 is set along the length direction of the first joint segment 21. The insertion groove 211 penetrates the first joint segment 21 in the horizontal direction, and the penetration direction of the insertion groove 211 is perpendicular to the length direction of the first joint segment 21.

[0065] Reference Figure 3 The insert plate 231 is inserted into the insertion slot 211, and the insert plate 231 slides against the inner wall of the insertion slot 211. The hinge shaft 232 passes through the first joint segment 21 along its own axial direction, and the hinge shaft 232 rotates with the first joint segment 21.

[0066] Based on the structural design of the horizontal hinge 23, the second joint segment 22 can only rotate relative to the first joint segment 21 in the horizontal plane around the vertical hinge axis 232, that is, it only allows angle adjustment in a single plane. The clamping constraint of the insertion slot 211 on the insertion plate 231 and the vertical setting of the hinge axis 232 together restrict the rotational freedom of the second joint segment 22, preventing unwanted rotation.

[0067] Based on the design that allows angle adjustment only in a single plane, it can match the anatomical features of the upper and lower layers of human blood vessels, avoiding the scraping of organs or obstruction of the endoscopic field of view by clamping surgical instruments due to lateral displacement, thereby improving the safety and precision of the surgical procedure.

[0068] Reference Figure 4 and Figure 5 The joint locking assembly 5 includes a manual drive component 51 and a transmission link 52. The transmission link 52 is arranged along the length direction of the first joint segment 21. One end of the transmission link 52 is hinged to the second joint segment 22, and the other end is connected to the manual drive component 51. The manual drive component 51 is arranged on the handle seat 13 and is used to drive the transmission link 52 to move along its own length direction.

[0069] With this design, the user can operate the manual drive component 51 to drive the transmission link 52 to move along its own length. At this time, the transmission link 52 applies a pulling or pushing force to the second joint segment 22, driving the second joint segment 22 to rotate relative to the first joint segment 21 around the hinge axis 232, thereby realizing the angle adjustment of the chuck assembly 3.

[0070] Meanwhile, the manual drive unit 51 can lock the axial position of the transmission link 52 after the user stops operating, so that the transmission link 52 cannot move on its own under the action of external load, thereby stably locking the angle of the angle adjustment joint 2 at the set position.

[0071] In this embodiment, refer to Figure 5 and Figure 6 The manual drive component 51 includes a locking bolt 511 and a threaded sleeve 512. The threaded sleeve 512 is coaxially sleeved on the locking bolt 511, and the locking bolt 511 is screwed to the threaded sleeve 512.

[0072] Reference Figure 5 and Figure 6 A joint hole 131 is provided through the handle seat 13. The joint hole 131 is axially arranged along the length direction of the first joint segment 21. One end of the joint hole 131 is coaxially inserted into the first joint segment 21, and the other end is coaxially inserted into the locking bolt 511. The first joint segment 21 is engaged with the joint hole 131, and the locking bolt 511 is rotatably engaged with the joint hole 131.

[0073] Reference Figure 6 The threaded sleeve 512 is coaxially disposed inside the joint hole 131, and the threaded sleeve 512 slides along its own axis with the inner wall of the joint hole 131.

[0074] Reference Figure 3 and Figure 6A clearance hole 212 is coaxially provided on the first joint segment 21. One end of the clearance hole 212 is coaxially connected to the joint hole 131, and the other end is connected to the insertion groove 211. The transmission connecting rod 52 is coaxially disposed in the clearance hole 212, and one end of the transmission connecting rod 52 is coaxially connected to the threaded sleeve 512, and the other end is hinged to the second joint segment 22.

[0075] With the structural design of the manual drive component 51, the locking bolt 511 can rotate due to the rotatable engagement between it and the joint hole 131. Based on the threaded connection between the threaded sleeve 512 and the locking bolt 511, when the locking bolt 511 rotates, the threaded sleeve 512 moves along its own axial direction, which can pull the transmission link 52 to move synchronously along its own axial direction. Then, through the hinged connection between the transmission link 52 and the second joint segment 22, the second joint segment 22 is driven to rotate around the hinge axis 232, thereby realizing the adjustment of the angle of the chuck assembly 3.

[0076] Based on this, since the threaded pair has a mechanical self-locking characteristic, once the user sets the angle of the chuck assembly 3 to the target position by rotating the locking bolt 511, even if the chuck assembly 3 is subjected to external operating loads such as clamping force and pulling force during the surgical operation, the axial reaction force generated after the load is transmitted to the threaded sleeve 512 through the transmission link 52 cannot overcome the self-locking friction of the threaded pair, and the locking bolt 511 will not rotate in the opposite direction. This makes the angle of the chuck assembly 3 stably locked in the set position, and there will be no slippage or rebound.

[0077] In this embodiment, refer to Figure 6 and Figure 7 The nut of the locking bolt 511 is located on the side of the handle seat 13 facing the movable handle 12 along its own axial direction, and the outer wall of the nut of the locking bolt 511 is machined with knurled patterns.

[0078] Because the locking bolt 511's nut is positioned far from the front surgical field of view, it will not be obstructed by human tissue or puncture cannula during surgery. Users can complete the angle adjustment operation with one hand without interrupting the ongoing surgical procedure.

[0079] Specifically, refer to Figure 7 and Figure 8The transmission connecting rod 52 includes a coaxial rod 521 and an eccentric rod 522. The coaxial rod 521 is coaxially disposed within the clearance hole 212 and spaced apart from the inner wall of the clearance hole 212. One end of the coaxial rod 521 is coaxially fixedly connected to the threaded sleeve 512 along its own length, and the other end extends toward the second joint segment 22. One end of the eccentric rod 522 is coaxially fixedly connected to the end of the coaxial rod 521 toward the second joint segment 22, and the coaxial rod 521 and the eccentric rod 522 are integrally formed. The end of the eccentric rod 522 away from the coaxial rod 521 is radially offset from the axis of the first joint segment 21, and the end of the eccentric rod 522 away from the coaxial rod 521 is hinged to the insert plate 231, and the hinge point between the eccentric rod 522 and the insert plate 231 is spaced apart from the hinge shaft 232.

[0080] Based on the structural design of the transmission link 52, the hinge point between the eccentric rod 522 and the insert plate 231 is offset from the hinge axis 232. Therefore, when the coaxial rod 521 applies an axial tension or thrust to the insert plate 231 through the eccentric rod 522, the axial force and the offset distance together form a torque around the hinge axis 232, driving the second joint segment 22 to rotate around the hinge axis 232 relative to the first joint segment 21, thereby realizing the conversion of the axial linear motion of the transmission link 52 into the angular deflection motion of the second joint segment 22.

[0081] Reference Figure 1 and Figure 9 The chuck assembly 3 includes a fixed chuck 31, a movable chuck 32, and a chuck seat 33. One end of the fixed chuck 31 along its own length is fixedly connected to the chuck seat 33. One end of the movable chuck 32 along its own length is hinged to the chuck seat 33. One end of the flexible transmission assembly 4 is connected to the movable chuck 32 for transmission. One end of the second joint segment 22 is fixedly connected to the chuck seat 33.

[0082] Based on the structural design of the chuck assembly 3, the movable chuck 32 can rotate relative to the fixed chuck 31 around the hinge point under the traction of the flexible transmission assembly 4, thereby realizing the closing and opening of the chuck assembly 3.

[0083] It should be noted that the specific configuration of the clamp assembly 3 in this application is not limited to the forceps configuration shown in this embodiment. The clamp assembly 3 can be replaced with different types of instrument tips according to actual clinical needs. For example, the clamp assembly 3 can be a forceps tip (such as a vascular sidewall forceps or a tissue blocking forceps), in which case the fixed clamp 31 and the movable clamp 32 form a jaw to achieve the clamping function of blood vessels or tissues; the clamp assembly 3 can also be a scissor tip (such as surgical scissors), in which case the ends of the fixed clamp 31 and the movable clamp 32 are provided with cutting edges to achieve the tissue cutting function; the clamp assembly 3 can also be a forceps tip (such as surgical forceps), in which case the fixed clamp 31 and the movable clamp 32 form slender clamping arms to achieve the precise clamping function of tissues; in addition, the clamp assembly 3 can also be a clamp tip (such as a laparoscopic clamp), in which case the fixed clamp 31 and the movable clamp 32 cooperate to form a clamping cavity to achieve the clamping operation of tissues under laparoscopy.

[0084] In this embodiment, refer to Figure 1 The clamp assembly 3 adopts the aforementioned clamp-like configuration. Both the fixed clamp 31 and the movable clamp 32 employ an arc-shaped jaw design, thus forming the vascular clamping end of the clamp assembly 3. Anti-slip teeth are provided on opposite sides of both the fixed clamp 31 and the movable clamp 32, thereby increasing the clamping contact area and friction, preventing the clamped blood vessel or tissue from slipping during surgical procedures. The ends of both the fixed clamp 31 and the movable clamp 32 are blunted to avoid scratching the blood vessel wall or surrounding tissue during clamping, improving surgical safety.

[0085] Reference Figure 1 and Figure 9 The flexible transmission component 4 includes a rigid flexible sleeve 41, one end of which is connected to the handle seat 13 and the other end is connected to the chuck seat 33.

[0086] Reference Figure 1 and Figure 9 A steel wire rope 42 is coaxially inserted inside the rigid flexible sleeve 41. One end of the steel wire rope 42 is connected to the movable handle 12, and the other end is connected to the movable clamp 32.

[0087] Based on the structural design of the flexible transmission component 4, when the angle adjustment joint 2 is bent to different angles, the bending shape of the steel wire rope 42 is guided by the structural constraints of the rigid flexible sleeve 41 and the angle adjustment joint 2. The steel wire rope 42 itself does not bear the fixed support load, and only transmits the tension along its own length direction when the handle component 1 is squeezed. Therefore, it will not be twisted, squeezed or jammed due to the bending of the angle adjustment joint 2, ensuring that the opening and closing transmission of the clamp component 3 remains smooth in any angle state, thereby reducing the user's operating fatigue.

[0088] In this embodiment, refer to Figure 6 and Figure 9The rigid-flexible sleeve 41 includes a first fixed tube 411, a flexible connecting section 412, and a second fixed tube 413, which are coaxially fixedly connected in sequence. The flexible connecting section 412 is made of metal helical spring tube or stainless steel corrugated tube.

[0089] Reference Figure 6 and Figure 9 A first hole 132 is provided through the handle seat 13, and the axis of the first hole 132 is parallel to and spaced apart from the axis of the joint hole 131. The first fixing tube 411 is coaxially inserted into and snapped into the first hole 132. A second hole 331 is provided on the side of the chuck seat 33 facing the rigid flexible sleeve 41, and the second hole 331 is coaxially provided with the second fixing tube 413, and the second fixing tube 413 is coaxially inserted into and snapped into the second hole 331.

[0090] In this embodiment, refer to Figure 6 and Figure 9 A power transmission component 43 is provided between one end of the steel wire rope 42 and the corresponding movable handle 12, and a pulling transmission component 44 is provided between the other end and the corresponding movable clamp 32.

[0091] Reference Figure 6 The power transmission component 43 includes a guide slide rod 431 and an extension rod 432. The guide slide rod 431 is coaxially disposed inside the first fixed tube 411 and slides along its own axis with the first fixed tube 411. The extension rod 432 is coaxially disposed inside the first hole 132. The steel wire rope 42, the guide slide rod 431 and the extension rod 432 are coaxially connected in sequence, and the end of the extension rod 432 that is away from the guide slide rod 431 along its own axis is hinged to the movable handle 12.

[0092] Based on the structural design of the power transmission component 43, the guide slide rod 431 provides a rigid sliding guide in the first fixed tube 411, so that the rotational motion of the movable handle 12 is converted into axial motion along the direction of the first hole 132 through the extension rod 432, and can be smoothly transmitted to the wire rope 42 through the guide slide rod 431.

[0093] Reference Figure 9The pulling transmission component 44 includes a linkage slide rod 441, a hinged elongated strip 442, and a pressure spring 443. The linkage slide rod 441 is coaxially disposed within the second hole 331, and slides along its own axial direction against the inner wall of the second hole 331. One end of the linkage slide rod 441 is coaxially connected to the steel wire rope 42, and the other end is provided with a hinged elongated strip 442. One end of the hinged elongated strip 442 is hinged to the linkage slide rod 441, and the other end is hinged to the movable clamp 32. The pressure spring 443 is coaxially sleeved on the outside of the steel wire rope 42, and is coaxially disposed within the second fixed tube 413. One end of the pressure spring 443 abuts against the linkage slide rod 441, and the other end abuts against the inner wall of the second fixed tube 413.

[0094] Based on the structural design of the pull transmission component 44, the linkage slide rod 441 slides axially in the second hole 331 to transmit the axial tension of the steel wire rope 42 to the hinged long strip 442. The hinged long strip 442 drives the movable clamp 32 to rotate, thereby realizing the closing action of the clamp assembly 3.

[0095] Based on this, when the steel wire rope 42 is not under tension, i.e., after the movable handle 12 is released, the pressure spring 443 can release elastic potential energy, which can push the linkage slide rod 441, thereby driving the hinged long strip 442 to move, thus making the movable chuck 32 tend to open and return to its original position. At this time, when the meshing tooth 611 engages with the corresponding gear tooth 621, the elastic potential energy released by the pressure spring 443 can keep the position of the movable chuck 32 stable; and when the meshing tooth 611 separates from the corresponding gear tooth 621, the elastic potential energy released by the pressure spring 443 can return the movable chuck 32 to its original position.

[0096] The implementation principle of this application embodiment is as follows: When the user needs to adjust the angle between the clamp assembly 3 and the handle assembly 1, the user holds the handle assembly 1 with one hand and rotates the locking bolt 511 located at the rear end of the handle seat 13 with the other hand. As the locking bolt 511 rotates, the second joint segment 22 rotates relative to the first joint segment 21 in the horizontal plane around the hinge axis 232, thereby causing the angle of the clamp assembly 3 to deflect. During this process, the steel wire rope 42 and the rigid flexible sleeve 41 bend synchronously.

[0097] Once the angle of the chuck assembly 3 is adjusted to the target position, the user stops rotating the locking bolt 511, at which point the angle of the chuck assembly 3 is fixed.

[0098] After this, the user squeezes the movable handle 12, which in turn pulls the movable clamp 32 to rotate in sync with the steel wire rope 42, thereby closing or opening the clamp assembly 3.

[0099] After the clamping assembly 3 clamps the target tissue, the user can use the biting teeth 611 of the biting section 61 in the multi-position biting assembly 6 to engage with the corresponding gear teeth 621 of the gear section 62 to lock the movable handle 12 at the current opening and closing range, thereby achieving continuous and stable clamping of the target.

[0100] When the user releases the movable handle 12 and unlocks the multi-position engagement component 6, the pressure spring 443 releases its elastic potential energy, and the movable handle 12 automatically resets.

[0101] Example 2: An angle-adjusting clamping surgical instrument with self-locking function, referring to... Figure 10 The difference between this embodiment and Embodiment 1 is that the manual drive component 51 includes a pull shaft 513 and a friction damping tube 514. The pull shaft 513 and the friction damping tube 514 are coaxially inserted and fitted together. The friction damping tube 514 is coaxially disposed in the joint hole 131, and the friction damping tube 514 is snap-fitted or fixedly connected to the joint hole 131. The pull shaft 513 slides along its own axial direction with the friction damping tube 514, and the coaxial rod 521 is coaxially fixedly connected to the pull shaft 513 at one end along its own length direction away from the second joint segment 22.

[0102] With the structural design of the manual drive component 51, the pull shaft 513 slides along its own axis with the friction damping tube 514, allowing the pull shaft 513 to perform linear push-pull motion within the friction damping tube 514. During this linear push-pull motion, the pull shaft 513 drives the coaxial rod 521, which is fixedly connected to it, to move synchronously, thereby driving the second joint segment 22 to rotate around the hinge axis 232, thus adjusting the angle of the chuck assembly 3.

[0103] During this process, frictional damping exists between the inner wall of the friction damping tube 514 and the outer wall of the pull shaft 513, which applies a constant frictional resistance to the axial movement of the pull shaft 513. Under the action of this frictional damping, when the user actively drives the pull shaft 513, the active pushing and pulling force applied by the user is greater than the frictional resistance, and the pull shaft 513 can slide smoothly within the friction damping tube 514 to achieve angle adjustment. When the user stops operating, the axial reaction force generated by the external operating loads such as clamping force and pulling force borne by the clamping assembly 3 during the surgical operation, which are transmitted to the pull shaft 513 through the transmission link 52, is usually less than the static frictional resistance applied to the pull shaft 513 by the friction damping tube 514. The pull shaft 513 cannot slide on its own under the action of this axial reaction force, thereby stably locking the angle of the angle adjustment joint 2 at the set position.

[0104] In this embodiment, refer to Figure 10The inner wall of the friction damping tube 514 is provided with a friction damping layer 5141. The friction damping layer 5141 is made of a composite material of polytetrafluoroethylene and elastic rubber or a polymer elastomer liner. The inner diameter of the friction damping layer 5141 is slightly smaller than the outer diameter of the pull shaft 513, so that an interference fit is formed between the pull shaft 513 and the friction damping layer 5141.

[0105] Based on this, the friction damping layer 5141 tightly covers the outer wall of the pull shaft 513 under elastic deformation, thereby establishing a uniform frictional resistance in surface contact between the pull shaft 513 and the friction damping tube 514.

[0106] The composite material of polytetrafluoroethylene and elastic rubber combines the dual characteristics of low dynamic friction coefficient of polytetrafluoroethylene and high elastic recovery force of elastic rubber, so that the pull shaft 513 experiences low dynamic friction resistance and moves smoothly when the user actively pushes and pulls it; when the user stops operating, that is, when the pull shaft 513 is stationary, the static friction force between the friction damping layer 5141 and the pull shaft 513 is significantly higher than the dynamic friction force, thereby providing a reliable static locking torque to resist the axial reaction force caused by the surgical operation load.

[0107] Meanwhile, the elastic rubber component can maintain the elastic pre-tightening covering force on the outer wall of the pull shaft 513 during long-term use, compensate for the slight increase in radial clearance caused by wear, and keep the friction damping performance stable throughout the service life of the instrument.

[0108] In this embodiment, refer to Figure 10 An anti-slip cap 5131 is coaxially fixed to one end of the pull shaft 513 away from the coaxial rod 521 along its own axis. The anti-slip cap 5131 is located on the side of the handle seat 13 facing the movable handle 12 along its own axis.

[0109] Based on the anti-slip cap 5131, which is located at the rear end of the handle seat 13 and exposed outside the surgical instrument, the user has an intuitively accessible push-pull operation area.

[0110] Specifically, the outer surface of the anti-slip cap 5131 is provided with anti-slip textures or knurled structures, allowing the user to stably grip the anti-slip cap 5131 with their fingertips for axial push-pull operations even when wearing surgical gloves. Simultaneously, the diameter of the anti-slip cap 5131 is larger than the outer diameter of the pull shaft 513. When the pull shaft 513 is pulled outwards, the anti-slip cap 5131 forms an axial limiting contact with the end face of the handle seat 13, preventing the pull shaft 513 from being excessively pulled out and detaching from the friction damping tube 514, thus ensuring operational safety.

[0111] The implementation principle of this application embodiment is as follows: when the user needs to adjust the angle between the clamp assembly 3 and the handle assembly 1, the user holds the handle assembly 1 with one hand and pinches the anti-slip cap 5131 at the end of the pull shaft 513 with the other hand, and pushes or pulls along the axis of the pull shaft 513.

[0112] During the push-pull process, the push-pull force applied by the user is greater than the dynamic frictional resistance applied by the friction damping tube 514 to the pull shaft 513, and the pull shaft 513 slides smoothly along the axial direction within the friction damping tube 514. The axial movement of the pull shaft 513 drives the coaxial rod 521 fixedly connected to it to move synchronously, thereby driving the second joint segment 22 to rotate, and thus realizing the angular deflection of the chuck assembly 3.

[0113] Once the angle of the chuck assembly 3 is adjusted to the target position, the user releases the anti-slip cap 5131 to stop the push-pull operation. At this time, the static friction between the friction damping layer 5141 on the inner wall of the friction damping tube 514 and the outer wall of the pull shaft 513 automatically locks the pull shaft 513 in the current axial position, and the angle of the chuck assembly 3 is fixed.

[0114] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A self-locking angle-adjusting clamping surgical instrument, characterized in that, include: The handle assembly (1), the angle adjustment joint (2), and the clamp assembly (3) are provided. The angle adjustment joint (2) includes a first joint segment (21) and a second joint segment (22) that are hinged to each other. The handle assembly (1), the first joint segment (21), the second joint segment (22), and the clamp assembly (3) are connected in sequence. The flexible transmission component (4) is connected to the clamp assembly (3) at one end and to the handle assembly (1) at the other end; the flexible transmission component (4) is used to transmit the movement of the handle assembly (1) to pull the clamp assembly (3) to open and close. The joint locking assembly (5) includes a manual drive (51) and a transmission link (52). The transmission link (52) is arranged along the length direction of the first joint segment (21). One end of the transmission link (52) is hinged to the second joint segment (22), and the other end is connected to the manual drive (51). The manual drive (51) is disposed on the handle assembly (1). The manual drive (51) is used to drive the transmission link (52) to move along its own length direction so as to pull the second joint segment (22) to rotate relative to the first joint segment (21). The manual drive (51) locks the position of the transmission link (52) after the drive stops.

2. The angle-adjusting clamping surgical instrument with self-locking function according to claim 1, characterized in that, The manual drive component (51) includes a locking bolt (511) and a threaded sleeve (512). The threaded sleeve (512) is coaxially sleeved on the locking bolt (511), and the locking bolt (511) is screwed to the threaded sleeve (512). The locking bolt (511) is rotatably engaged with the handle assembly (1), the threaded sleeve (512) is slidably engaged with the handle assembly (1) along its own axial direction, the threaded sleeve (512) is axially arranged along the length direction of the transmission link (52), and one end of the transmission link (52) is connected to the threaded sleeve (512).

3. The angle-adjusting clamping surgical instrument with self-locking function according to claim 2, characterized in that, The nut of the locking bolt (511) is located along its own axial direction on the side of the handle assembly (1) away from the first joint segment (21).

4. The angle-adjusting clamping surgical instrument with self-locking function according to claim 1, characterized in that, A hinge shaft (232) is provided between the first joint segment (21) and the second joint segment (22). The hinge shaft (232) passes through the first joint segment (21) along its own axial direction and is fixedly connected to the second joint segment (22). The first joint segment (21) is rotatably connected to the hinge shaft (232).

5. The angle-adjusting clamping surgical instrument with self-locking function according to claim 1, characterized in that, The handle assembly (1) includes a fixed handle (11), a movable handle (12), and a handle base (13). The fixed handle (11) is fixedly connected to the handle base (13) at one end along its own length direction, and the movable handle (12) is hinged to the fixed handle (11) at one end along its own length direction. The flexible transmission component (4) is connected to the movable handle (12) in a transmission connection. The manual drive component (51) is disposed on the handle seat (13). One end of the first joint segment (21) is fixedly connected to the handle seat (13). A multi-position engagement component (6) is provided between the fixed handle (11) and the movable handle (12). The multi-position engagement component (6) is used to lock the rotation position of the movable handle (12) relative to the fixed handle (11) in one of a plurality of preset positions.

6. The angle-adjusting clamping surgical instrument with self-locking function according to claim 5, characterized in that, The multi-position occlusal assembly (6) includes an occlusal segment (61) and a position segment (62); The biting segment (61) is fixedly connected to the fixed handle (11) at one end along its own length direction, and extends toward the movable handle (12) at the other end. Biting teeth (611) are provided on the side wall of the biting segment (61). The gear section (62) is connected to the movable handle (12) at one end along its own length direction, and extends toward the fixed handle (11) at the other end. A plurality of gear teeth (621) are provided on the side wall of the gear section (62), and the plurality of gear teeth (621) are arranged sequentially along the length direction of the gear section (62). When the movable handle (12) rotates toward the fixed handle (11), the meshing teeth (611) engage with a plurality of the gear teeth (621) in sequence.

7. The angle-adjusting clamping surgical instrument with self-locking function according to claim 1, characterized in that, The flexible transmission assembly (4) includes a steel wire rope (42) and a rigid flexible sleeve (41). One end of the rigid flexible sleeve (41) is connected to the handle assembly (1), and the other end is connected to the clamp assembly (3). The steel wire rope (42) is coaxially inserted inside the rigid flexible sleeve (41). One end of the steel wire rope (42) is connected to the handle assembly (1) in a transmission connection, and the other end is connected to the clamp assembly (3) in a transmission connection.

8. A self-locking angle-adjusting clamping surgical instrument according to claim 7, characterized in that, The chuck assembly (3) includes a fixed chuck (31), a movable chuck (32), and a chuck seat (33). The fixed chuck (31) is fixedly connected to the chuck seat (33) at one end along its own length direction. The movable chuck (32) is hinged to the chuck seat (33) at one end along its own length direction. One end of the second joint segment (22) is connected to the chuck seat (33). One end of the rigid flexible sleeve (41) is connected to the chuck seat (33). A pulling transmission component (44) is provided between the wire rope (42) and the movable chuck (32). One end of the pulling transmission component (44) is connected to the wire rope (42), and the other end is hinged to the movable chuck (32). The pulling transmission component (44) slides along the axial direction of the wire rope (42) with the chuck seat (33).

9. A self-locking angle-adjusting clamping surgical instrument according to claim 8, characterized in that, The pulling transmission component (44) includes a linkage slide rod (441) and a pressure spring (443). The chuck seat (33) has a second hole (331) which is coaxially connected to the rigid flexible sleeve (41). The linkage slide rod (441) is coaxially arranged in the second hole (331), and the linkage slide rod (441) slides along its own axis with the inner wall of the second hole (331). One end of the linkage slide rod (441) is coaxially connected to the steel wire rope (42), and the other end is provided with a hinged long strip (442). One end of the hinged long strip (442) is hinged to the linkage slide rod (441), and the other end is hinged to the movable clamp (32). The pressure spring (443) is coaxially sleeved on the outside of the steel wire rope (42), and one end of the pressure spring (443) abuts against the linkage slide rod (441), and the other end abuts against the inner wall of the rigid flexible sleeve (41).

10. A self-locking angle-adjusting clamping surgical instrument according to claim 1, characterized in that, The manual drive unit (51) includes a pull shaft (513) and a friction damping tube (514). The pull shaft (513) and the friction damping tube (514) are coaxially inserted and engaged, and the pull shaft (513) slides along its own axial direction with the friction damping tube (514). The friction damping tube (514) is used to apply frictional resistance to the pull shaft (513). The friction damping tube (514) is fixed on the handle assembly (1), the axial direction of the pull shaft (513) is arranged along the length direction of the transmission link (52), and one end of the transmission link (52) is connected to the pull shaft (513).

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