Device for detecting straightness and curvature of forceps head of minimally invasive surgical forceps

Abstract

The utility model relates to the technical field of operating forceps production, and aims to solve the technical problem of insufficient detection precision. In order to solve the technical problem, the utility model provides the device for detecting the straightness and the curvature of the forceps head of the minimally invasive surgical forceps. A rotating assembly is connected to the top of one end of a base; the axis of a laser beam of the first laser measuring instrument is perpendicular to the axis of the forceps head of the operating forceps to be measured in an initial state, and the first laser measuring instrument is used for detecting the straightness of the forceps head of the operating forceps to be measured; the axis of a laser beam of the second laser measuring instrument is perpendicular to the axis of the forceps head to be measured in a set state, and the second laser measuring instrument is used for detecting the curvature of the forceps head of the operating forceps to be measured; the operating forceps fixing assembly is connected to the top of the other end of the base; a handle fixing assembly of the operating forceps fixing assembly is used for fixing a handle of the operating forceps; the rod body fixing assembly is used for fixing and supporting the rod part of the operating forceps. According to the utility model, the straightness and curvature of the tong head can be measured with high precision.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical forceps production, in particular to a device for detecting the straightness and curvature of a minimally invasive surgical forceps head. Background Art

[0002] Surgical forceps are handheld medical devices used in laparoscopic surgery. The instrument is inserted into the body through a trocar to treat lesions. They consist of a handle, a shaft, and a forceps head connected to one end of the shaft. The handle is connected to the shaft, and the forceps head can bend around the axis of the shaft.

[0003] To ensure the accuracy of surgical operations, the head of a surgical forceps should usually be in a vertical position before use (i.e., the initial position, in which the axis of the head coincides with the axis of the rod); during use, the head of the surgical forceps needs to reach a specified deflection direction and bending angle (i.e., the set position, in which the head and the rod are bent at a certain deflection angle) to achieve accurate, efficient, and rapid treatment of lesions. Therefore, the curvature of the head generally needs to be set when designing the surgical forceps. During production and assembly, the head of the surgical forceps usually needs to be subjected to functional quality inspections. One of the inspections is to check whether the straightness and curvature meet the requirements, ensuring that the head is in a vertical position in the initial position and that it can reach the preset angle when it is bent 360°. However, there is currently no specialized equipment on the market for testing straightness and curvature. If manual inspection is used, the straightness and curvature inspections lose accuracy due to the errors of manual inspection, which is not conducive to the accurate, efficient, and rapid control of laparoscopic surgery. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art.

[0005] In order to solve the above technical problems, the utility model provides a device for detecting the straightness and curvature of the head of minimally invasive surgical forceps, comprising:

[0006] Base, horizontal setting;

[0007] A rotating assembly is connected to the top of one end of the base; the rotating assembly includes a rotating shaft;

[0008] A measuring assembly is located above the base; the measuring assembly includes a rigid middle piece, a first laser measuring instrument, and a second laser measuring instrument; the rigid middle piece is connected to the end of the rotating shaft; the first laser measuring instrument and the second laser measuring instrument are connected to both ends of the rigid middle piece, the axis of the laser beam of the first laser measuring instrument is perpendicular to the axis of the forceps head to be tested in the initial state, and is used to detect the straightness of the forceps head to be tested; the axis of the laser beam of the second laser measuring instrument is perpendicular to the axis of the forceps head to be tested in the set state, and is used to detect the curvature of the forceps head to be tested;

[0009] The surgical forceps fixing assembly is connected to the top of the other end of the base; the surgical forceps fixing assembly includes a handle fixing assembly and a rod fixing assembly. The handle fixing assembly is fixed to the end of the base and is used to fix the handle of the surgical forceps; the rod fixing assembly is arranged between the measuring assembly and the handle fixing assembly and is used to fix the rod that supports the surgical forceps.

[0010] In one embodiment of the present invention, the rotating assembly further includes a mounting chassis and an angle output component; the angle output component is fixed to the top of the base via the mounting chassis; the mounting chassis is a rigid structure; and the angle output component is connected to the rotating shaft to drive the rotating shaft to rotate.

[0011] In one embodiment of the present invention, a pin hole is provided at the end of the rotating shaft, and a pin shaft is provided on the rigid middle piece of the measuring assembly, and the pin shaft is connected to the pin hole.

[0012] In one embodiment of the present invention, the first laser measuring instrument and the second laser measuring instrument are located on both sides of the rotation axis.

[0013] In one embodiment of the present invention, a rigid body middle piece includes a rigid body and a first connector and a second connector connected at both ends of the rigid body; the middle part of the rigid body middle piece is connected to the rotating shaft; the first laser measuring instrument is connected to the free end of the first connector, and the extension direction of the first connector is parallel to the axial direction of the rotating shaft; the second laser measuring instrument is connected to the free end of the second connector, and the extension direction of the second connector is inclined to the axial direction of the rotating shaft.

[0014] In one embodiment of the present invention, at least two rod fixing assemblies are provided; the rod fixing assembly includes a fixing plate, a telescopic rod and a collar; the fixing plate is connected to the base; the telescopic rod is connected to the top of the fixing plate; the collar is connected to the top of the telescopic rod, and the top of the collar is threadedly connected with a locking screw, which is used to tighten the rod of the surgical forceps placed in the collar.

[0015] In one embodiment of the present invention, a notch is provided at the bottom of the collar; the top of the telescopic rod is inserted into the notch; and a V-shaped groove is provided at the top of the telescopic rod.

[0016] In one embodiment of the present invention, the telescopic rod includes a first telescopic member and a second telescopic member; the first telescopic member is connected to the top of the fixed plate; a groove is provided on the top of the first telescopic member, and a tightening screw is provided on one side of the groove, and the height of the tightening screw is adjustable; one end of the second telescopic member is provided in the groove and is connected to the first telescopic member through the tightening screw; a ring is connected to the other end of the second telescopic member.

[0017] In one embodiment of the present invention, the handle fixing assembly is connected to the second telescopic member of the rod fixing assembly adjacent thereto.

[0018] In one embodiment of the present invention, the handle fixing assembly includes a fixing member, and the fixing member is provided with a contoured groove that matches the shape of the handle of the surgical forceps.

[0019] The above technical solution of the utility model has the following advantages compared with the prior art:

[0020] The minimally invasive surgical forceps head straightness and curvature detection device described in the present invention can measure the straightness (i.e., initial state) and curvature (i.e., set state) of the forceps head efficiently and accurately, thereby ensuring that the forceps head of the surgical forceps can meet the requirements in terms of straightness and curvature after production and assembly, thereby enabling more accurate, efficient and quick control of abdominal surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the utility model easier to understand, the utility model is further described in detail below based on the specific embodiments of the utility model in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 This is a three-dimensional schematic diagram of a device for detecting the straightness and curvature of a minimally invasive surgical forceps head in a preferred embodiment of the present invention;

[0023] Figure 2 yes Figure 1 A three-dimensional schematic diagram from another perspective of the device for detecting the straightness and curvature of the minimally invasive surgical forceps head;

[0024] Figure 3 yes Figure 1 A schematic diagram of the structure of the measuring components in the device for detecting the straightness and curvature of the minimally invasive surgical forceps head;

[0025] Figure 4 yes Figure 1 A schematic structural diagram of detecting surgical forceps in a device for detecting the straightness and curvature of a minimally invasive surgical forceps head;

[0026] Figure 5 It is the use of Figure 1 A flow chart of a detection method for detecting the straightness and curvature of a minimally invasive surgical forceps head using a detection device;

[0027] Description of the accompanying drawings: 100, base;

[0028] 200, rotating assembly; 210, rotating shaft; 220, mounting chassis; 230, angle output component;

[0029] 300, measuring assembly; 310, rigid body middleware; 311, rigid body; 312, first connector; 313, second connector; 320, first laser measuring instrument; 321, first mounting axis; 322, first emission axis; 330, second laser measuring instrument; 331, second mounting axis; 332, second emission axis;

[0030] 400, surgical forceps fixing assembly; 410, handle fixing assembly; 411, fixing piece;

[0031] 420, rod fixing assembly; 421, fixing plate; 422, telescopic rod; 4221, V-groove; 4222, first telescopic member; 4223, second telescopic member; 4224, groove; 4225, tightening screw; 423, collar; 4231, locking screw; 4232, notch;

[0032] 500, surgical forceps; 510, forceps head; 520, rod body; 530, handle. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0034] Reference Figures 1 to 5 As shown, an embodiment of the present invention provides a device for detecting the straightness and curvature of a minimally invasive surgical forceps head, which includes a base 100 , a rotating assembly 200 , a measuring assembly 300 and a surgical forceps fixing assembly 400 .

[0035] The base 100 is arranged horizontally; it is used to support and fix the rotating component 200, the measuring component 300 and the surgical forceps fixing component 400.

[0036] The rotating assembly 200 is connected to the top of one end of the base 100; the rotating assembly 200 includes a rotating shaft 210; the rotating shaft 210 can be output and fixed in integer angle units;

[0037] The measuring assembly 300 is located above the base 100. The measuring assembly 300 includes a rigid middle piece 310, a first laser measuring instrument 320, and a second laser measuring instrument 330. The rigid middle piece 310 is connected to the end of the rotating shaft 210. The first laser measuring instrument 320 and the second laser measuring instrument 330 are connected to both ends of the rigid middle piece 310. The axis of the laser beam of the first laser measuring instrument 320 is perpendicular to the axis of the clamp head 510 to be measured in the initial state, and is used to detect the straightness of the clamp head 510 to be measured. The axis of the laser beam of the second laser measuring instrument 330 is perpendicular to the axis of the clamp head 510 to be measured in the set state, and is used to detect the curvature of the clamp head 510 to be measured.

[0038] The first laser measuring instrument 320 includes a first mounting axis 321 and a first emitting axis 322. The first mounting axis 321 is parallel to the rotation axis 210 and the axis of the clamp head 510 in the initial state. The first emitting axis 322 is the laser emission path of the first laser measuring instrument 320. The first mounting axis 321 is parallel to the rotation axis 210 and is perpendicular to the first mounting axis 321 and the first emitting axis 322. The first laser measuring instrument 320 is fixed along the first mounting axis 321 and is placed at one end of the rigid middle piece 310 by screws. The first laser measuring instrument 320 has a first emitting end and a first receiving end. The first emitting end is the laser emission point inside the first laser measuring instrument 320, and the first receiving end is the point on the surface of the clamp head 510 illuminated by the laser emitted by the first emitting end. During detection, the sampled data between the first emitting end and the first receiving end is the first data value.

[0039] The second laser measuring instrument 330 includes a second mounting axis 331 and a second emitting axis 332. The second mounting axis 331 is parallel to the axis of the clamp head 510 in the set state and forms a predetermined angle with the rotation axis 210. The second emitting axis 332 serves as the laser emission path for the second laser measuring instrument 330. The second mounting axis 331 and the second emitting axis 332 are arranged perpendicularly to each other. The second laser measuring instrument 330 is fixed along the second mounting axis 331 by screws at the other end of the rigid middle piece 310. The second laser measuring instrument 330 has a second emitting end and a second receiving end. The second emitting end is the laser emission point within the second laser measuring instrument 330, and the second receiving end is the point on the surface of the clamp head 510 illuminated by the laser emitted by the second emitting end. The sampled data between the second emitting end and the second receiving end is the second data value.

[0040] The collected first data value and the second data value are displayed on the first laser measuring instrument 320 and the second laser measuring instrument 330 respectively.

[0041] In some possible implementations, the first emission axis 322 , the second emission axis 332 , and the rotation axis 210 are in the same plane.

[0042] When detecting straightness, the laser emission path of the first laser measuring instrument 320 should be perpendicular to the axis of the clamp head 510 (i.e., the axis of the rod body 520) in the initial state, so as to measure the distance between the clamp head 510 and it, and control the first laser measuring instrument 320 to rotate one circle, and measure once every predetermined angle to detect whether the straightness meets the requirements.

[0043] When detecting the curvature, the laser emission path of the second laser measuring instrument 330 is perpendicular to the axis of the clamp head 510 in the set state, thereby measuring the distance between the clamp head 510 and it, and controlling the second laser measuring instrument 330 to rotate one circle, measuring once every predetermined angle, thereby detecting whether the curvature meets the requirements.

[0044] The surgical forceps fixing assembly 400 is connected to the top of the other end of the base 100; the surgical forceps fixing assembly 400 includes a handle fixing assembly 410 and a rod fixing assembly 420. The handle fixing assembly 410 is fixed to the end of the base 100 and is used to fix the handle 530 of the surgical forceps 500; the rod fixing assembly 420 is arranged between the measuring assembly 300 and the handle fixing assembly 410 and is used to fix the rod that supports the surgical forceps 500.

[0045] Specifically, the present application can measure the straightness (i.e., the initial state) and curvature (i.e., the set state) of the forceps head 510 efficiently and accurately, thereby ensuring that the straightness and curvature of the forceps head 510 meet the requirements after production and assembly, thereby enabling more accurate, efficient, and quick control of abdominal surgery.

[0046] The present application is applicable to a surgical instrument having a forceps head 510 , and the forceps head 510 must have an initial state (eg, a vertical state) and a set state (with a certain bending capability).

[0047] Furthermore, the rotation assembly 200 also includes a mounting chassis 220 and an angle output component 230. The angle output component 230 is fixed to the top of the base 100 via the mounting chassis 220. The mounting chassis 220 is a rigid structure. The angle output component 230 is connected to the rotation shaft 210 and is used to drive the rotation shaft 210 to rotate. For example, the angle output component 230 can be a remote control handle, which is located on one side of the mounting chassis 220 and connected to the end of the rotation shaft 210. The rotation shaft 210 passes through the mounting chassis 220 and is connected to the measurement assembly 300 on the other side of the mounting chassis 220. Specifically, in this embodiment, the remote control handle controls the rotation angle of the rotation shaft 210, thereby controlling the rotation angle of the rigid middleware 310, the first laser measuring instrument 320, and the second laser measuring instrument 330 around the rotation shaft 210.

[0048] Furthermore, a pin hole is provided at the end of the rotating shaft 210, and a pin shaft is provided on the rigid middle piece 310 of the measuring assembly 300, and the pin shaft is connected to the pin hole. Specifically, the connection method in this embodiment makes the assembly of the two simple and quick.

[0049] The first laser measuring instrument 320 and the second laser measuring instrument 330 are located on both sides of the rotating shaft 210. Specifically, no interference will occur when measuring the two states.

[0050] Furthermore, the rigid middle piece 310 includes a rigid body 311, and a first connector 312 and a second connector 313 connected at both ends of the rigid body 311. The middle portion of the rigid middle piece 310 is connected to the rotation shaft 210. A first laser measuring instrument 320 is connected to the free end of the first connector 312, extending parallel to the axis of the rotation shaft 210. A second laser measuring instrument 330 is connected to the free end of the second connector 313, extending at an angle relative to the axis of the rotation shaft 210. Specifically, the rigid middle piece 310 in this embodiment has a stable and reliable structure and low manufacturing cost.

[0051] Furthermore, at least two rod fixing assemblies 420 are provided; the rod fixing assemblies 420 include a fixing plate 421, a telescopic rod 422, and a collar 423. The fixing plate 421 is connected to the base 100. The fixing plate 421 is a rigid structure used to fix the telescopic rod 422. The telescopic rod 422 is connected to the top of the fixing plate 421; the collar 423 is connected to the top of the telescopic rod 422. The top of the collar 423 is threadedly connected to a locking screw 4231, which is used to tighten the rod 520 of the surgical forceps 500 placed in the collar 423. Specifically, this embodiment supports the rod 520 through at least two rod fixing assemblies 420, resulting in a simple structure and more stable and reliable support and positioning of the rod 520.

[0052] Furthermore, a rubber pad is provided at the free end of the locking screw 4231 to protect the rod body 520 of the surgical forceps 500.

[0053] Furthermore, the bottom of the collar 423 is provided with a notch 4232, and the collar 423 is a rigid structure. The top of the telescopic rod 422 is inserted into the notch 4232, and the top of the telescopic rod 422 is connected to the collar 423 via a pin. The top of the telescopic rod 422 is provided with a V-shaped groove 4221. Specifically, the V-shaped groove 4221 in this embodiment facilitates the placement of the rod 520 of the surgical forceps 500 in the V-shaped groove 4221, thereby stably and reliably supporting and limiting the circular rod of the surgical forceps 500. It is also suitable for surgical forceps 500 with rods of different diameters.

[0054] Furthermore, the telescopic rod 422 includes a first telescopic member 4222 and a second telescopic member 4223. The first telescopic member 4222 is connected to the top of the fixed plate 421. The top of the first telescopic member 4222 is provided with a groove 4224, and a tightening screw 4225 is provided on one side of the groove 4224. The height of the tightening screw 4225 is adjustable. For example, one side of the groove 4224 is provided with a waist-shaped hole that extends up and down, and the tightening screw 4225 is connected to the waist-shaped hole. One end of the second telescopic member 4223 is located in the groove 4224 and is connected to the first telescopic member 4222 via the tightening screw 4225. The collar 423 is connected to the other end of the second telescopic member 4223. Specifically, in this embodiment, by adjusting the height of the tightening screw 4225, the position of the second telescopic member 4223 in the groove 4224 of the first telescopic member 4222 is changed, causing the second telescopic member 4223 to rise and fall, so that the axis of the surgical forceps 500 coincides with the rotation axis 210. The structure is stable and reliable.

[0055] Furthermore, the handle fixing assembly 410 is connected to the second telescopic member 4223 of the rod fixing assembly 420 adjacent thereto. Specifically, the handle fixing assembly 410 in this embodiment can adjust its height as the second telescopic member 4223 is raised or lowered, thereby maintaining the axis of the rod 520 of the surgical forceps 500 in a horizontal position, ensuring test accuracy. Furthermore, the handle fixing assembly 410 does not require a telescopic structure, reducing costs and improving testing efficiency.

[0056] Furthermore, the handle fixing assembly 410 includes a fixing member 411 having a contoured groove thereon that matches the shape of the handle 530 of the surgical forceps 500. Specifically, the contoured groove in this embodiment can limit the position of the handle 530 of the surgical forceps 500, thereby preventing the handle 530 from shifting during the detection process and affecting the detection accuracy.

[0057] Reference Figure 5 As shown, the method for detecting using this application is as follows:

[0058] S1: Use the handle fixing assembly 410 and the rod fixing assembly 420 to fix the handle 530 and the rod 520 supporting the surgical forceps 500 respectively. Make the surgical forceps 500 in the initial state and place the forceps head 510 on the area to be tested.

[0059] S2: Utilize the first transmitting end of the first laser measuring instrument 320 to transmit a first signal to the clamp head 510 , wherein the first laser measuring instrument 320 can obtain a first data value D from the first transmitting end to the first receiving end.

[0060] S3: Operate the remote control handle to rotate, and detect the first data value D every 90°. Record four groups of first data values ​​as D1, D2, D3...Di, where i is an integer. Under the condition that the straightness meets the requirements, the detected first data value should meet If M-k1≤Di≤M+k2, it is determined that the straightness of the clamp head 510 meets the requirements.

[0061] S4: Operate the handle 530 of the surgical forceps 500 to make the forceps head 510 swing to the set position (i.e., make the forceps head 510 in the set state), use the handle fixing assembly 410 and the rod body fixing assembly 420 to fix the handle 530 and the rod body 520 supporting the surgical forceps 500 respectively, and place the forceps head 510 in the area to be tested.

[0062] S5: Use the second transmitting end of the second laser measuring instrument 330 to transmit a second signal to the clamp head 510, wherein the second laser measuring instrument 330 can obtain the second data value from the second transmitting end to the second receiving end, and operate the remote control handle to rotate until the second data value B is found.

[0063] S6: Operate the handle 530 of the surgical forceps 500 to rotate the forceps head 510 by α degrees around the rotation axis 210, operate the remote control handle to rotate by a corresponding α degrees, and search for the second data value B1.

[0064] S7: Repeat the operation of S6, continue to control the rotation of the surgical forceps 500 handle 530 and the remote control handle, rotate the forceps head 510 and the second laser measuring instrument 330 by β degrees, β degrees can be the same as or different from α degrees, find the second data value B, and record the values ​​of the second data value B1, B2, ... Bn, where n is an integer. Under the condition that the curvature meets the requirements, the detected second data value should meet If L-P1≤Bn≤L+P2, it is determined that the curvature of the clamp head 510 meets the requirements.

[0065] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A device for detecting the straightness and curvature of a minimally invasive surgical forceps head, characterized by: include: Base, horizontal setting; A rotating assembly connected to the top of one end of the base; the rotating assembly includes a rotating shaft; A measuring assembly is located above the base; the measuring assembly includes a rigid middle piece, a first laser measuring instrument, and a second laser measuring instrument; the rigid middle piece is connected to the end of the rotating shaft; the first laser measuring instrument and the second laser measuring instrument are connected to both ends of the rigid middle piece, the axis of the laser beam of the first laser measuring instrument is perpendicular to the axis of the forceps head to be tested in the initial state, and is used to detect the straightness of the forceps head to be tested; the axis of the laser beam of the second laser measuring instrument is perpendicular to the axis of the forceps head to be tested in the set state, and is used to detect the curvature of the forceps head to be tested; A surgical forceps fixing assembly is connected to the top of the other end of the base; the surgical forceps fixing assembly includes a handle fixing assembly and a rod fixing assembly. The handle fixing assembly is fixed to the end of the base and is used to fix the handle of the surgical forceps; the rod fixing assembly is arranged between the measuring assembly and the handle fixing assembly and is used to fix the rod that supports the surgical forceps.

2. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 1, characterized in that: The rotating assembly also includes a mounting chassis and an angle output component; the angle output component is fixed to the top of the base through the mounting chassis; the mounting chassis is a rigid structure; the angle output component is connected to the rotating shaft to drive the rotating shaft to rotate.

3. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 1, characterized in that: A pin hole is provided at the end of the rotating shaft, and a pin shaft is provided on the rigid body middle piece of the measuring component, and the pin shaft is connected to the pin hole.

4. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 1, characterized in that: The first laser measuring instrument and the second laser measuring instrument are located on both sides of the rotation axis.

5. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 4, characterized in that: The rigid body middle piece includes a rigid body and a first connector and a second connector connected at both ends of the rigid body; the middle part of the rigid body middle piece is connected to the rotating shaft; the first laser measuring instrument is connected to the free end of the first connector, and the extension direction of the first connector is parallel to the axial direction of the rotating shaft; the second laser measuring instrument is connected to the free end of the second connector, and the extension direction of the second connector is inclined to the axial direction of the rotating shaft.

6. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 1, characterized in that: At least two rod fixing assemblies are provided; the rod fixing assembly includes a fixing plate, a telescopic rod and a collar; the fixing plate is connected to the base; the telescopic rod is connected to the top of the fixing plate; the collar is connected to the top of the telescopic rod, and the top of the collar is threadedly connected with a locking screw, and the locking screw is used to tighten the rod of the surgical forceps placed in the collar.

7. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 6, characterized in that: The bottom of the collar is provided with a notch; the top of the telescopic rod is inserted into the notch; and the top of the telescopic rod is provided with a V-shaped groove.

8. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 6, characterized in that: The telescopic rod includes a first telescopic member and a second telescopic member; the first telescopic member is connected to the top of the fixed plate; a groove is provided on the top of the first telescopic member, and a tightening screw is provided on one side of the groove, and the height of the tightening screw is adjustable; one end of the second telescopic member is provided in the groove and is connected to the first telescopic member through the tightening screw; the ring is connected to the other end of the second telescopic member.

9. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 6, characterized in that: The handle fixing assembly is connected to the second telescopic member of the rod fixing assembly adjacent to the handle fixing assembly.

10. The device for detecting the straightness and curvature of the minimally invasive surgical forceps head according to claim 1, characterized in that: The handle fixing assembly comprises a fixing piece, on which a contoured groove is provided, and the contoured groove matches the shape of the handle of the surgical forceps.

Images