A ball joint wedge locking mechanism and medical device

Abstract

This utility model discloses a ball joint wedge locking mechanism and a medical device, relating to the field of medical devices. The ball joint wedge locking mechanism includes a ball joint and a locking assembly. The locking assembly includes a wedge, an unlocking ring, and a traction line. The wedge is rotatably disposed within the cavity between the outer sphere and the inner ball head. The working profile surface of the wedge in contact with the inner wall of the outer sphere is a logarithmic spiral surface. This application utilizes the self-locking effect of the logarithmic spiral surface during pressing, by setting a wedge with a logarithmic spiral surface, an unlocking ring, and a traction line, to enable reliable and stable locking of the ball joint under load or external force, preventing accidental movement. Simultaneously, by traction of the unlocking ring by the traction line, the wedge can be quickly and effortlessly driven to rotate and disengage from the lock, achieving instantaneous unlocking with a fast response speed, meeting the needs of emergency locking and releasing during surgery.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, specifically to a ball joint wedge locking mechanism and a medical device. Background Technology

[0002] The use of universal ball joints in medical devices allows the devices to reach desired angles and positions more flexibly, improving ease of operation; for example, in high-end medical devices such as minimally invasive surgical robots, intelligent orthopedic instruments, and rehabilitation exoskeletons. In practical use, the universal ball joint structure needs to be reliably locked in the desired position to prevent accidental movement under load or external force, and it should also be able to quickly release to restore free movement when needed.

[0003] Among related technologies, while miniature electromagnetic brakes offer strong controllability, the magnetic field they generate may interfere with precision imaging equipment and they also generate heat, posing a high risk for long-term implantable devices. Pneumatic or hydraulic locking mechanisms, while offering high power density, are complex systems with the risk of fluid leakage and cannot meet the packaging requirements in a sterile environment. Traditional mechanical thread locking methods are slow to operate, cannot achieve automated control, and cannot meet the urgent need for instantaneous locking during surgery. Utility Model Content

[0004] In view of this, the present invention provides a ball joint wedge locking mechanism and a medical device to solve the problems mentioned in the background art.

[0005] In a first aspect, this utility model provides a ball joint wedge locking mechanism, comprising:

[0006] A ball joint, comprising an outer ball and an inner ball joint that are hinged together;

[0007] The locking assembly includes wedges, unlocking rings, traction lines, and elastic elements. At least four wedges are provided, all evenly distributed along the circumference of the inner ball head. Each wedge is rotatably disposed within a cavity between the outer ball and the inner ball head. The working profile surface of the wedge in contact with the inner wall of the outer ball is a logarithmic helical surface. The unlocking ring is slidably disposed with the inner ball head. One end of the traction line is fixedly connected to the wedge, and the other end is fixedly connected to the unlocking ring. The connection node between the traction line and the wedge is spaced apart from the rotation axis of the wedge.

[0008] One end of the elastic element is elastically abutting against the wedge block, and the other end is fixedly connected to the inner ball head. The elastic element is adapted to elastically cause the logarithmic helical surface of the wedge block to move towards the outer ball, so that when the outer ball and the inner ball head are rotated together, the two are kept pressed and locked by the logarithmic helical surface of the wedge block. The unlocking ring is driven by the wedge block through the traction line, causing the wedge block to move inward towards the inner ball head, so as to cause the logarithmic helical surface to disengage from the locking contact with the outer ball, thereby unlocking the outer ball from the inner ball head.

[0009] Beneficial effects: By incorporating a wedge with a logarithmic helical surface, an unlocking ring, a traction line, and an elastic element, the self-locking effect generated by the logarithmic helical surface during elastic compression allows the ball joint to reliably and stably lock under load or external force, preventing accidental movement. Simultaneously, by tractioning the unlocking ring with the traction line, the wedge can be quickly and effortlessly rotated to disengage from the lock, achieving instantaneous unlocking with a fast response speed, meeting the needs of emergency locking and releasing during surgery. This locking mechanism adopts a purely mechanical structure, with no electromagnetic interference, no risk of fluid leakage, and a compact structure, making it well-suited for encapsulation in sterile environments.

[0010] In some embodiments, the inner ball head is provided with at least four mounting grooves, and the wedge is rotatably mounted in the mounting grooves accordingly. All the mounting grooves are evenly distributed along the circumference of the inner ball head, and the elastic element is elastically pressed between the wedge and the inner wall of the mounting groove.

[0011] Beneficial effects: By installing wedges with circumferentially evenly distributed mounting grooves on the inner ball head, a stable and precise rotation fulcrum and accommodating space are provided for the wedges. This ensures that multiple wedges can press against the inner wall of the outer ball evenly and synchronously when locking, which helps to improve the stability and reliability of locking and avoids problems such as uneven locking force or jamming caused by wedge offset.

[0012] In some embodiments, the wall of the mounting groove is provided with a rotating hole, and the wedge is provided with a transition hole, the rotating hole and the transition hole being coaxially arranged.

[0013] Beneficial effects: The coaxial arrangement of the rotating hole and the adapter hole ensures that the wedge can rotate smoothly around the same axis, reducing adverse motion interference and energy loss, making the locking and unlocking actions smoother and more precise, and improving the response speed and service life of the locking mechanism.

[0014] In some embodiments, the inner ball head is provided with a through hole, the number of the through holes is the same as the number of the wedges, and the through holes are evenly distributed circumferentially on the inner ball head; the traction line slides through the through hole, and the through hole and the mounting groove are connected.

[0015] Beneficial effects: The circumferentially distributed through holes provide guidance and protection channels for multiple traction lines, ensuring that the traction force can be accurately transmitted to each wedge along the predetermined path, avoiding entanglement, wear or interference with other components in the internal cavity of the traction line, improving the reliability of motion control, and also helping to guide and protect the traction line.

[0016] In some embodiments, the inner ball head includes a ring portion and a support portion, wherein multiple support portions are provided, the ring portion and the support portion are integrally formed, and the ring portion is located on the side of the support portion away from the unlocking ring; the mounting groove is hollowed out and recessed on the support portion, and the circumferential outer contour surface of the ring portion and the circumferential outer contour surface of the support portion are conformally configured with the inner wall surface of the outer ball.

[0017] Beneficial effects: The one-piece molded ring and support structure helps to enhance the overall rigidity and strength of the inner ball joint; the common circumferential outer contour of the ring and support fits conformally with the inner wall of the outer ball joint, which can not only ensure the flexible rotation of the ball joint in the free state, but also provide a strong reverse support force for the wedge block when locked, ensuring the stable locking of the locking mechanism.

[0018] In some embodiments, the inner ball head further includes a neck sleeve portion, the unlocking ring and the neck sleeve portion are coaxially arranged, the unlocking ring is slidably disposed on the outer side of the neck sleeve portion; the support portion is circumferentially fixedly disposed at the distal end of the neck sleeve portion.

[0019] Beneficial effects: The neck sleeve provides coaxial guidance and support for the unlocking ring, ensuring that the unlocking ring can slide smoothly along the axial direction without tilting or jamming. This ensures that the tension on all traction lines is uniform and consistent, allowing the unlocking action of all wedges to be performed synchronously, thereby improving the accuracy and reliability of motion control.

[0020] In some embodiments, a clearance cavity is formed between the ring portion and the support portion, the clearance cavity and the mounting groove are isolated from each other, and the clearance cavity and the mounting groove are staggered along the circumference of the inner ball head.

[0021] Beneficial effects: The staggered isolation of the clearance cavity and the mounting groove not only ensures the structural strength of the inner ball head and provides sufficient installation space for the wedge block, but also cleverly reduces the overall weight of the inner ball head, achieving structural lightweighting and helping to reduce operator fatigue; at the same time, it also helps to reduce the contact area between the inner ball head and the outer ball, promoting smooth relative rotation between the two.

[0022] In some embodiments, each of the wedges is provided with a wire fixing hole, the wire fixing hole being spaced apart from the rotation axis of the wedge, and the wire fixing hole being fixedly connected to the distal end of the traction line.

[0023] Beneficial effects: By setting the fixing hole at a position spaced from the rotation axis of the wedge, an effective lever arm is formed; when the traction line is pulled, a sufficiently large torque is generated to drive the wedge to rotate, which can save effort, reduce the driving force required for unlocking, and make the operation easier.

[0024] In some embodiments, the unlocking ring is provided with fixing holes, and the number of fixing holes is the same as the number of wire fixing holes; the fixing holes are evenly distributed circumferentially on the unlocking ring, and the fixing holes are fixedly connected to the proximal end of the traction wire.

[0025] Beneficial effects: Multiple fixing holes are evenly arranged circumferentially on the unlocking ring to ensure that the fixing points near the ends of multiple traction lines are evenly distributed; when the unlocking ring moves axially, it can apply a uniform tension to all traction lines, thereby synchronously controlling the movement of all wedges and avoiding problems such as asynchronous wedge movement, poor unlocking, or mechanism jamming caused by uneven force on a single traction line.

[0026] In some embodiments, each of the wedges is further provided with an abutment groove, the abutment groove being arranged around the outer periphery of the wire fixing hole, the abutment groove being connected to one end of the elastic member, and the traction wire being disposed inside the elastic member.

[0027] Beneficial effects: The abutment groove provides positioning and accommodating space for the end of the elastic element, ensuring that the far end of the elastic element always maintains the desired connection position with the wedge block, preventing the elastic element from shifting or falling off during operation, and ensuring the accuracy and reliability of the applied force direction.

[0028] Secondly, this utility model also provides a medical device, including the aforementioned ball joint wedge locking mechanism.

[0029] Beneficial effects: The ball joint wedge locking mechanism, when applied to medical devices, enables the devices to possess both highly flexible omnidirectional motion capabilities and rapid, reliable, and stable locking functions. The locking mechanism has excellent purely mechanical and passive locking characteristics, avoiding electromagnetic interference and overheating issues, eliminating the risk of fluid leakage, and meeting sterile environment requirements. Its rapid locking and unlocking performance can significantly improve the ease of operation and safety of high-end medical devices such as surgical robots, orthopedic instruments, and exoskeletons. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the ball joint wedge locking mechanism according to an embodiment of the present utility model;

[0032] Figure 2 This is a schematic diagram of the connection of the inner ball head in the ball joint wedge locking mechanism of this utility model embodiment;

[0033] Figure 3 This is a schematic diagram of the inner ball head and the wedge block in the ball joint wedge locking mechanism of this utility model embodiment;

[0034] Figure 4 This is a schematic diagram of the wedge block structure in the ball joint wedge block locking mechanism of this utility model embodiment;

[0035] Figure 5 This is a schematic diagram showing the connection between the wedge and the unlocking ring in the ball joint wedge locking mechanism of this utility model embodiment.

[0036] Explanation of reference numerals in the attached figures:

[0037] 101. Outer sphere; 102. Inner ball head; 1021. Mounting groove; 1022. Rotation hole; 1023. Through hole; 1024. Ring part; 1025. Support part; 1026. Neck sleeve part; 1027. Clearance cavity;

[0038] 201. Wedge; 2011. Logarithmic spiral surface; 2012. Adapter hole; 2013. Wire fixing hole; 2014. Abutment groove; 202. Unlocking ring; 2021. Fixing hole; 203. Traction line. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] The following is combined Figures 1 to 5 The following describes embodiments of the present invention.

[0041] According to an embodiment of the present invention, a ball joint wedge locking mechanism is provided, comprising a ball joint and a locking assembly. The ball joint includes an outer ball 101 and an inner ball head 102 that are hinged together. The locking assembly includes a wedge 201, an unlocking ring 202, a traction line 203, and an elastic element (not shown in the figure).

[0042] In this embodiment, as Figures 1 to 5As shown, there are four or more wedges 201, all of which are evenly distributed along the circumference of the inner ball head 102. The wedges 201 are rotatably disposed in the cavity between the outer ball 101 and the inner ball head 102. The working contour surface of the wedges 201 in contact with the inner wall of the outer ball 101 is set as a logarithmic spiral surface 2011. The unlocking ring 202 is slidably configured with the inner ball head 102. One end of the traction line 203 is fixedly connected to the wedges 201, and the other end is fixedly connected to the unlocking ring 202. The connection node between the traction line 203 and the wedges 201 is spaced apart from the rotation axis of the wedges 201.

[0043] In this embodiment, one end of the elastic element elastically abuts against the wedge block 201, and the other end is fixedly connected to the inner ball head 102. The elastic element is adapted to elastically cause the logarithmic helical surface 2011 of the wedge block 201 to move towards the outer ball 101, so that when the outer ball 101 and the inner ball head 102 are rotated together, the two are kept pressed and locked by the logarithmic helical surface 2011 of the wedge block 201. The unlocking ring 202 is driven by the traction line 203 to drive the wedge block 201 inward towards the inner ball head 102, so that the logarithmic helical surface 2011 disengages from the locking contact with the outer ball 101, thereby unlocking the outer ball 101 from the inner ball head 102. The elastic element can be set as a compression spring, which can continuously apply a torque to the wedge block in the locking direction.

[0044] The ball joint wedge locking mechanism provided in this embodiment, by setting a wedge 201 with a logarithmic helical surface 2011, an unlocking ring 202, a traction line 203, and an elastic element, utilizes the self-locking effect generated by the logarithmic helical surface 2011 during elastic compression to enable the ball joint to achieve reliable and stable locking under load or external force, preventing accidental movement. At the same time, by pulling the unlocking ring 202 with the traction line 203, the wedge 201 can be quickly and effortlessly driven to rotate and disengage from the lock, achieving instantaneous unlocking with a fast response speed, meeting the needs of emergency locking and releasing during surgery. This locking mechanism adopts a purely mechanical structure, with no electromagnetic interference, no risk of fluid leakage, and a compact structure, making it well-suited for aseptic environment encapsulation.

[0045] Specifically, the wedge 201 adopts a logarithmic spiral shape. This type of curve is characterized by a continuously changing radius of curvature and a constant angle with the radial direction. During the ball joint's self-locking phase, when the inner ball head 102 rotates towards the locking direction, the outer ball 101 drives the wedge 201. The logarithmic spiral surface 2011 of the wedge 201 presses against the inner wall of the outer ball 101. Due to the spiral configuration, the normal force at the contact point generates a large radial component, pressing the wedge 201 more tightly between the outer ball 101 and the inner ball head 102. The greater the torque, the tighter the wedge 201 is pressed, and the greater the frictional force generated, thus achieving reliable unidirectional self-locking.

[0046] In this embodiment, all wedges 201 are evenly distributed along the circumference of the inner ball head 102, which can disperse the locking force to multiple contact points, avoid stress concentration, improve load-bearing capacity and structural stability, and achieve the purpose of uniform force distribution.

[0047] In a preferred embodiment, all wedges 201 are arranged in a ring-shaped symmetrical layout; the symmetrical layout can ensure that the inner ball head 102 is always clamped in the center and will not wobble, making the movement more precise; in a specific embodiment, four, six or eight wedges 201 are provided.

[0048] Furthermore, in the design of multiple wedges 201, when one wedge 201 temporarily fails, the other wedges 201 can still provide locking force, achieving the purpose of redundancy design, which improves the reliability of the locking mechanism.

[0049] In specific structural embodiments, such as Figure 3 As shown, the inner ball head 102 has four or more mounting grooves 1021. The wedges 201 are rotatably installed in the mounting grooves 1021. All mounting grooves 1021 are evenly distributed around the circumference of the inner ball head 102. An elastic element is elastically pressed between the wedges 201 and the inner wall of the mounting grooves 1021. The number of mounting grooves 1021 is the same as the number of wedges 201. This solution provides a stable and precise rotation fulcrum and accommodating space for the wedges 201 by setting the circumferentially evenly distributed mounting grooves 1021 on the inner ball head 102. This ensures that multiple wedges 201 can evenly and synchronously press against the inner wall of the outer ball 101 when locking, which helps to improve the stability and reliability of locking and avoids problems such as uneven locking force or jamming caused by the offset of the wedges 201.

[0050] In specific structural embodiments, such as Figure 2 and Figure 3 As shown, the inner ball joint 102 includes a ring portion 1024 and a support portion 1025. Multiple support portions 1025 are provided. The ring portion 1024 and the support portion 1025 are integrally formed. The ring portion 1024 is located on the side of the support portion 1025 away from the unlocking ring 202. The mounting groove 1021 is recessed and hollowed out on the support portion 1025. The circumferential outer contour surface of the ring portion 1024 and the circumferential outer contour surface of the support portion 1025 conformally fits the inner wall surface of the outer ball 101. This design adopts an integrally formed ring portion 1024 and support portion 1025 structure, which helps to enhance the overall rigidity and strength of the inner ball joint 102. The common circumferential outer contour of the ring portion 1024 and the support portion 1025 conformally fits the inner wall of the outer ball 101, ensuring flexible rotation of the ball joint in a free state and providing strong reverse support force for the wedge block 201 when locked, ensuring stable locking of the locking mechanism.

[0051] In specific embodiments, such as Figure 2 and Figure 3 As shown, a rotating hole 1022 is provided on the wall of the mounting groove 1021, and a connecting hole 2012 is provided on the wedge 201. The rotating hole 1022 and the connecting hole 2012 are coaxially arranged. A rotating shaft (not shown in the figure) is connected to the connecting hole 2012 and the rotating hole 1022. The rotating shaft is specifically fixedly connected to the wedge 201 through the connecting hole 2012, and the two ends of the rotating shaft are rotatably configured with the rotating hole 1022. This solution sets the connecting hole 2012 and the rotating hole 1022 coaxially to ensure that the wedge 201 can rotate smoothly around the same axis, reduce adverse motion interference and energy loss, make the locking and unlocking actions smoother and more precise, and improve the response speed and service life of the locking mechanism.

[0052] In specific embodiments, such as Figure 3 As shown, the inner ball head 102 also includes a neck sleeve 1026. The unlocking ring 202 and the neck sleeve 1026 are coaxially arranged, and the unlocking ring 202 is slidably sleeved on the outside of the neck sleeve 1026. The support part 1025 is fixedly arranged in a ring at the distal end of the neck sleeve 1026. The neck sleeve 1026 can provide coaxial guidance and support for the unlocking ring 202, ensuring that the unlocking ring 202 can slide smoothly along the axial direction without deviation or jamming. This ensures that the tension on all traction lines 203 is uniform, so that the unlocking action of all wedges 201 is synchronized, thereby improving the accuracy and reliability of motion control.

[0053] In specific embodiments, such as Figure 3 As shown, a clearance cavity 1027 is formed between the ring portion 1024 and the support portion 1025. The clearance cavity 1027 and the mounting groove 1021 are isolated from each other and are staggered along the circumference of the inner ball head 102. The staggered isolation of the clearance cavity 1027 and the mounting groove 1021 ensures the structural strength of the inner ball head 102 and provides sufficient installation space for the wedge block 201, while cleverly reducing the overall weight of the inner ball head 102, achieving structural lightweighting, and helping to reduce operator fatigue; at the same time, it also helps to reduce the contact area between the inner ball head 102 and the outer ball 101, promoting smooth relative rotation between the two.

[0054] In specific embodiments, such as Figure 4 As shown, each wedge 201 is provided with a wire fixing hole 2013, which is spaced apart from the rotation axis of the wedge 201. The wire fixing hole 2013 is fixedly connected to the distal end of the traction wire 203. By positioning the wire fixing hole 2013 at a position spaced apart from the rotation axis of the wedge 201, an effective lever arm is formed. When the traction wire 203 is pulled, a sufficiently large torque is generated to drive the wedge 201 to rotate, thereby saving effort, reducing the driving force required for unlocking, and making the operation easier.

[0055] In specific embodiments, such as Figure 3 As shown, the inner ball head 102 is provided with through holes 1023, and the number of through holes 1023 is the same as the number of wedges 201. The through holes 1023 are evenly distributed circumferentially on the inner ball head 102. The traction wire 203 slides through the through holes 1023, and the through holes 1023 are connected to the mounting groove 1021. The evenly distributed circumferential through holes 1023 provide guiding and protective channels for multiple traction wires 203, ensuring that the traction force can be accurately transmitted to each wedge 201 along the predetermined path, avoiding the traction wires 203 from getting tangled, worn, or interfering with other components in the internal cavity, improving the reliability of motion control, and also helping to guide and protect the traction wires 203.

[0056] In specific embodiments, such as Figure 3 As shown, the unlocking ring 202 is provided with fixing holes 2021, and the number of fixing holes 2021 is the same as the number of fixing holes 2013. The fixing holes 2021 are evenly distributed circumferentially on the unlocking ring 202, and the fixing holes 2021 are fixedly connected to the proximal end of the traction wire 203. The multiple fixing holes 2021 are evenly distributed circumferentially on the unlocking ring 202 to ensure that the fixing points of the proximal ends of multiple traction wires 203 are evenly distributed. When the unlocking ring 202 moves axially, it can apply a uniform tension to all traction wires 203, thereby synchronously controlling the movement of all wedges 201, avoiding the problems of asynchronous movement of wedges 201, poor unlocking, or mechanism jamming caused by uneven force on a single traction wire 203.

[0057] Each wedge 201 is also provided with an abutment groove 2014, which is arranged around the outer periphery of the wire fixing hole 2013. The abutment groove 2014 is connected to one end of the elastic element, and the other end of the elastic element is specifically installed on the wall surface of the mounting groove 1021 adjacent to the through hole 1023. The traction wire 203 is installed inside the elastic element. The abutment groove 2014 can provide positioning and receiving space for the end of the elastic element, ensuring that the far end of the elastic element always maintains the desired connection position with the wedge 201, preventing the elastic element from shifting or falling off during operation, and ensuring the accuracy and reliability of the applied force direction.

[0058] The ball joint wedge locking mechanism provided in this embodiment, when unlocking is required, pulls the unlocking ring 202 axially, causing the unlocking ring 202 to drive all the traction lines 203. Each traction line 203 pulls the wedge 201, causing the logarithmic helical surface 2011 of the wedge 201 to disengage from the inner wall surface of the outer ball 101, allowing the outer ball 101 and the inner ball head 102 to rotate. When locking is required, the pulling force on the unlocking ring 202 is released, and the energy stored in the elastic element is released, driving all the wedges 201 to reset synchronously and press against the outer ball, thus achieving the locking purpose.

[0059] According to an embodiment of this utility model, another aspect provides a medical device including the aforementioned ball joint wedge locking mechanism. Specifically applying the ball joint wedge locking mechanism to a medical device enables the device to possess both highly flexible omnidirectional motion capabilities and a fast, reliable, and stable locking function. The locking mechanism has excellent purely mechanical, passive locking characteristics, avoiding electromagnetic interference and overheating issues, eliminating the risk of fluid leakage, and meeting sterile environment requirements. Its rapid locking and unlocking performance can significantly improve the ease of operation and safety of high-end medical devices such as surgical robots, orthopedic instruments, and exoskeletons.

[0060] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A ball joint wedge lock mechanism, characterized by, include: The ball joint includes an outer ball (101) and an inner ball (102) that are hinged together; The locking assembly includes a wedge (201), an unlocking ring (202), a traction line (203), and an elastic element. At least four wedges (201) are provided, all evenly distributed around the inner ball head (102). The wedges (201) are rotatably disposed within the cavity between the outer sphere (101) and the inner ball head (102). The working profile surface of the wedge (201) in contact with the inner wall of the outer sphere (101) is a logarithmic spiral surface (2011). The unlocking ring (202) is slidably disposed with respect to the inner ball head (102). One end of the traction line (203) is fixedly connected to the wedge (201), and the other end is fixedly connected to the unlocking ring (202). The connection node between the traction line (203) and the wedge (201) is spaced apart from the rotation axis of the wedge (201). One end of the elastic element is elastically abutting against the wedge (201), and the other end is fixedly connected to the inner ball head (102). The elastic element is adapted to elastically cause the logarithmic spiral surface (2011) of the wedge (201) to move toward the outer ball (101), so that when the outer ball (101) and the inner ball head (102) are rotated together, the two are kept pressed and locked by the logarithmic spiral surface (2011). The unlocking ring (202) is driven to the wedge (201) through the traction line (203), so that the wedge (201) moves inward toward the inner ball head (102), so that the logarithmic spiral surface (2011) disengages from the locking contact with the outer ball (101), thereby unlocking the outer ball (101) from the inner ball head (102).

2. The ball joint wedge lock mechanism of claim 1, wherein, The inner ball head (102) is provided with at least four mounting grooves (1021), and the wedge (201) is rotatably installed in the mounting groove (1021). All the mounting grooves (1021) are evenly distributed along the circumference of the inner ball head (102), and the elastic element is elastically pressed between the wedge (201) and the inner wall of the mounting groove (1021).

3. The ball joint wedge lock mechanism of claim 2, wherein, The mounting groove (1021) has a rotating hole (1022) on its wall surface, and the wedge (201) has a connecting hole (2012) through it. The rotating hole (1022) and the connecting hole (2012) are coaxially arranged.

4. The ball joint wedge lock mechanism of claim 2, wherein, The inner ball head (102) is provided with a through hole (1023), the number of the through holes (1023) is the same as the number of the wedges (201), and the through holes (1023) are evenly distributed circumferentially on the inner ball head (102); the traction line (203) slides through the through hole (1023), and the through hole (1023) and the mounting groove (1021) are connected.

5. The ball joint wedge locking mechanism according to claim 2, characterized in that, The inner ball head (102) includes a ring portion (1024) and a support portion (1025). Multiple support portions (1025) are provided. The ring portion (1024) and the support portion (1025) are integrally formed. The ring portion (1024) is located on the side of the support portion (1025) away from the unlocking ring (202). The mounting groove (1021) is hollowed out and recessed on the support portion (1025). The circumferential outer contour surface of the ring portion (1024) and the circumferential outer contour surface of the support portion (1025) are conformally set to the inner wall surface of the outer ball (101).

6. The ball joint wedge locking mechanism according to claim 5, characterized in that, The inner ball head (102) also includes a neck sleeve (1026), the unlocking ring (202) and the neck sleeve (1026) are coaxially arranged, the unlocking ring (202) is sleeved and slidably arranged on the outside of the neck sleeve (1026); the support part (1025) is circumferentially fixedly arranged at the distal end of the neck sleeve (1026).

7. The ball joint wedge locking mechanism according to claim 5, characterized in that, A clearance cavity (1027) is formed between the ring portion (1024) and the support portion (1025). The clearance cavity (1027) and the mounting groove (1021) are isolated from each other. The clearance cavity (1027) and the mounting groove (1021) are staggered along the circumference of the inner ball head (102).

8. The ball joint wedge locking mechanism according to claim 1, characterized in that, Each of the wedges (201) is provided with a wire fixing hole (2013), the wire fixing hole (2013) is spaced apart from the rotation axis of the wedge (201), and the wire fixing hole (2013) is fixedly connected to the distal end of the traction line (203).

9. The ball joint wedge locking mechanism according to claim 8, characterized in that, The unlocking ring (202) is provided with fixing holes (2021), the number of which is the same as the number of fixing holes (2013); the fixing holes (2021) are evenly distributed circumferentially on the unlocking ring (202), and the fixing holes (2021) are fixedly connected to the proximal end of the traction line (203); and / or; Each of the wedges (201) is also provided with an abutment groove (2014), which is arranged around the outer periphery of the wire fixing hole (2013). The abutment groove (2014) is connected to one end of the elastic member, and the traction line (203) is arranged inside the elastic member.

10. A medical device, characterized in that, Includes the ball joint wedge locking mechanism as described in any one of claims 1-9.

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