Laparoscopic surgical instrument

Abstract

Provided in the present disclosure is a laparoscopic surgical instrument, comprising: a forceps head assembly, which comprises a forceps head, a fixed base, a deflection base, a deflection sliding block, a connecting rod and a forceps base, wherein the forceps head is mounted on the forceps base, the deflection base is detachably connected to the forceps base, two ends of the connecting rod are rotationally connected to the deflection base and the deflection sliding block by means of rotating shafts, the deflection base is rotationally connected to the fixed base, the deflection sliding block is slidably arranged in a slot in the fixed base, and the sliding of the deflection sliding block in the slot is transmitted by means of the connecting rod to control the deflection base to rotate around the fixed base, thereby driving the forceps head to deflect; an instrument shaft, the fixed base being fixed at one end of the instrument shaft; a push rod, which is arranged in the instrument shaft, has one end fixed to the deflection sliding block, and can slide relative to the instrument shaft; an opening and closing driving rod, which is arranged in the push rod, has one end connected to the forceps head, can slide relative to the push rod, and controls the opening and closing of the forceps head; and a control mechanism comprising an opening and closing trigger and a gear structure, wherein one end of the opening and closing trigger is connected to the gear structure, and the other end of the opening and closing trigger is detachably connected to the gear structure.

Description

Laparoscopic surgical instruments

[0001] This disclosure claims priority to Chinese Patent Application No. 202410481483.5, filed on April 22, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of minimally invasive surgical instruments, and in particular to a laparoscopic surgical instrument. Background Technology

[0003] Traditional laparoscopic surgical instruments are not ergonomically designed and have limited freedom of movement within the cavity, severely restricting surgeons during even simple procedures and hindering many minimally invasive operations. Currently, widely used laparoscopic surgical instruments include traditional straight manual instruments and console-based and large surgical robot-based instruments. While surgical robot systems offer greater flexibility, stability, surgical field clarity, and 3D vision, they require significant financial costs and logistical complexity. Consequently, compared to traditional laparoscopic instruments, robotic devices have not demonstrated a substantial market advantage, and handheld surgical instruments remain the mainstream tool in clinical surgery with a broad user base.

[0004] With the maturation of multi-joint surgical instrument technology, handheld robotic surgical instruments have emerged. Compared to traditional surgical instruments, these new laparoscopic surgical instruments offer, at a lower cost, some functions currently only found in surgical robot systems. For example, multi-degree-of-freedom joints provide a more flexible and natural operating experience, eliminating the need for complex limb movements; simultaneous and stable movement of multiple joints enables multi-angle manipulation, shortening surgical time and providing better surgical incisions, thereby improving surgical quality. This impacts the minimally invasive surgery market. Compared to the complex systems of surgical robots, these new laparoscopic surgical instruments are more flexible and practical, and offer better economic efficiency and portability.

[0005] There are two main methods for controlling the forceps in existing laparoscopic surgical instruments. One method uses wire control to achieve the opening, closing, and tilting of the forceps. This method requires four tungsten wires inside the connecting rod, which takes up space, makes the connecting rod too thick, and complicates the instrument's compactness. Furthermore, when the connecting rod rotates axially, the internal tungsten wires can become tangled, increasing the risk of breakage. The other method uses a push rod connected to a single tungsten wire, which passes around a pulley system to control the opening and closing of the forceps. This method reduces the space occupied inside the connecting rod and decreases the risk of tungsten wire breakage.

[0006] However, both of the above methods suffer from insufficient mechanical strength in controlling the opening and closing of the pliers, resulting in low positive pressure on the pliers head, which is detrimental to clamping. Insufficient mechanical strength also leads to low control accuracy. Furthermore, the non-removable pliers head makes cleaning and replacement inconvenient. In addition, the flexible part of the pliers head in the existing structure is relatively large, limiting the usable space. Summary of the Invention

[0007] In view of this, the present disclosure provides a laparoscopic surgical instrument to solve the above-mentioned technical problems existing in existing laparoscopic surgical instruments.

[0008] This disclosure provides a laparoscopic surgical instrument, comprising: a clamping head assembly, including a clamping head, a fixed base, a swinging base, a swinging slider, a connecting rod, and a clamping base; wherein the clamping head is mounted on the clamping base, and the swinging base is detachably connected to the clamping base; both ends of the connecting rod are rotatably connected to the swinging base and the swinging slider respectively via rotating shafts, the swinging base is rotatably connected to the fixed base, and the swinging slider is slidably disposed in a groove of the fixed base; by the sliding of the swinging slider in the groove of the fixed base, a first force is applied by the connecting rod to control the rotation of the swinging base around the fixed base, thereby causing the clamping head to swing; and an instrument rod, to which the fixed base is fixed. One end of the instrument; a push rod, built into the instrument lever, which can slide relative to the instrument lever, one end of the push rod being fixedly connected to the oscillating slider; an opening / closing drive rod, built into the push rod, which can slide relative to the push rod, one end of the opening / closing drive rod being connected to the pliers head, the opening / closing drive rod being configured to control the opening and closing of the pliers head under the drive of a second force parallel to the length direction of the opening / closing drive rod; a control mechanism, including an opening / closing trigger and a gear structure, the gear structure being connected to one end of the opening / closing trigger, the other end of the opening / closing drive rod being detachably connected to the gear structure, wherein pressing the opening / closing trigger drives the gear structure to rotate, thereby applying a second force to the opening / closing drive rod.

[0009] According to an embodiment of the present disclosure, the fixed base and the yaw slider are further configured such that when the yaw slider slides to contact the end face of the fixed base, the yaw base is limited to a straight state along the length of the push rod.

[0010] According to an embodiment of this disclosure, the control mechanism further includes: a handle housing, a first support shaft, and a second support shaft, the first support shaft and the second support shaft being fixed on the handle housing; the gear structure includes a driving gear and a driven gear, the driving gear being rotatably connected to the first support shaft, the driven gear being rotatably connected to the second support shaft, and the driving gear meshing with the driven gear; wherein, pressing the opening / closing trigger causes the opening / closing trigger to rotate around the first support shaft, driving the driving gear to rotate synchronously, and under the meshing action, the driving gear drives the driven gear to rotate around the second support shaft, applying a second force to the opening / closing drive rod.

[0011] According to an embodiment of this disclosure, the control mechanism further includes a rigid spring, one end of which is fixedly connected to one end of the trigger, and the other end of which is fixedly connected to the handle housing. The rigid spring is configured to provide a restoring force to the trigger.

[0012] According to an embodiment of this disclosure, the driven gear is provided with a groove, and the other end of the opening and closing drive rod is inserted into the groove and detachably connected to the driven gear.

[0013] According to an embodiment of this disclosure, the control mechanism further includes: a slider guide rail fixed to the handle housing; a yaw wheel and a cam, the yaw wheel and the cam being fixedly connected and coaxial, the cam having a curved groove; a yaw seat with a sliding shaft below it, the yaw seat being slidably installed in the slider guide rail, the sliding shaft being slidably installed in the curved groove, and the other end of the push rod being installed in the yaw seat; wherein, by rotating the yaw wheel, the cam is driven to rotate, the sliding shaft moves relative to the curved groove, and the yaw seat is driven to slide relative to the slider guide rail, thereby driving the push rod to move in a direction parallel to the length direction of the push rod.

[0014] According to an embodiment of this disclosure, the control mechanism further includes: a self-rotating dial, sleeved on the instrument bar and connected to the eccentric seat, wherein the self-rotating dial is configured to rotate the instrument bar by rotating the self-rotating dial, thereby driving the clamp head assembly to rotate.

[0015] According to an embodiment of this disclosure, the opening and closing drive rod is formed by sequentially and fixedly connecting a pull rod, a flexible shaft, and a disassembly rod. The pull rod is connected to the clamp head, and the disassembly rod is detachably connected to the control mechanism.

[0016] According to an embodiment of this disclosure, the pliers head includes: a first pliers, a second pliers, two cylindrical pins, and two connecting pieces. Each connecting piece has a cylindrical pin integrated at one end, and the connecting piece is rotatably connected to the first pliers and the second pliers via the cylindrical pin. The other end of each connecting piece is connected to a pull rod. Under the drive of the connecting pieces, the first pliers and the second pliers rotate around the cylindrical pins to control the opening and closing motion of the first pliers and the second pliers.

[0017] According to embodiments of this disclosure, the pliers assembly includes gripping pliers, separating pliers, needle holder pliers, scissors, or clamping pliers.

[0018] The laparoscopic surgical instruments provided according to the embodiments of this disclosure can achieve at least the following technical effects:

[0019] By designing the forceps head assembly, the clamp base with the forceps head and the opening / closing drive rod can be detached and pulled out from the push rod, facilitating the replacement, cleaning, and sterilization of the forceps head, and enabling the reuse of laparoscopic surgical instruments. Furthermore, the forceps head assembly with this structure is shorter, allowing for use in smaller spaces.

[0020] When the oscillating slider slides to contact the end face of the fixed base, the oscillating base is limited to a straight position along the length of the push rod. This allows for quick and accurate reset of the clamp head assembly, eliminating the need for operators to rely on experience to determine successful reset and preventing further damage to the target object when the clamp head is pulled out. By utilizing a gear structure connected to the opening and closing drive rod, the force driving the clamp head to open and close is provided. Due to the high rigidity of the gear structure, compared to wired control and pulley system control, the mechanical strength of the control mechanism is increased while occupying less space inside the instrument rod. This increases the maximum positive pressure of the clamp head, making the laparoscopic surgical instruments more suitable for clamping applications. Furthermore, the high rigidity of the gear structure allows for better control of the opening and closing angle when manually pressing the opening and closing mechanism, thereby improving the control precision of the clamp head opening and closing.

[0021] The opening and closing trigger is connected to the handle housing by a rigid spring, which further improves the mechanical strength of the control mechanism compared to the traditional spring connection method, thereby improving the maximum positive pressure and control accuracy of the pliers.

[0022] By setting a groove on the driven gear, the end of the opening and closing drive rod connected to the driven gear can be directly inserted into the groove, making the opening and closing drive rod and the control structure detachable. This ensures mechanical strength and improves the ease of disassembly.

[0023] Based on the gear structure for controlling the opening and closing of the pliers, a structure for yaw control and rotation control has been added. This allows for control of the pliers in three directions while occupying a small space and avoiding breakage of the tungsten wire rope. Attached Figure Description

[0024] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0025] Figure 1 schematically shows a three-dimensional structural diagram of a laparoscopic surgical instrument according to an embodiment of the present disclosure.

[0026] Figure 2 schematically illustrates the structure of a laparoscopic surgical instrument after disassembly of the forceps assembly according to an embodiment of the present disclosure.

[0027] Figure 3 schematically shows an exploded view of a pliers assembly according to an embodiment of the present disclosure.

[0028] Figure 4 schematically illustrates the structure of the control mechanism according to an embodiment of the present disclosure.

[0029] Figure 5 schematically shows the position diagram of the limiting mechanism according to an embodiment of the present disclosure.

[0030] Figure 6 schematically shows an exploded view of a control mechanism according to an embodiment of the present disclosure.

[0031] Figure 7 schematically illustrates the connection structure between the opening / closing drive rod and the driven gear according to an embodiment of the present disclosure.

[0032] Figure 8 schematically illustrates the structure of the pliers head and opening / closing drive lever according to an embodiment of the present disclosure.

[0033] Figure 9 schematically shows an exploded view of the control mechanism in a first direction according to another embodiment of the present disclosure.

[0034] Figure 10 schematically shows an exploded view of the control mechanism in a second direction according to another embodiment of the present disclosure. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0037] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0038] In the description of this disclosure, it should be understood that the terms "longitudinal", "length", "circumferential", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the subsystem or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0039] Throughout the accompanying drawings, identical elements are represented by the same or similar reference numerals. Conventional structures or configurations have been omitted where they may cause confusion in understanding this disclosure. Furthermore, the shapes, dimensions, and positional relationships of the components in the drawings do not reflect their actual size, scale, or actual positional relationships. Additionally, any reference symbols enclosed in parentheses should not be construed as limiting this disclosure.

[0040] Similarly, to simplify this disclosure and aid in understanding one or more of the various aspects of the disclosure, in the above description of exemplary embodiments of the present disclosure, various features of the present disclosure are sometimes grouped together in a single embodiment, figure, or description thereof. The use of terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refers to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present disclosure. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] Figure 1 schematically shows a perspective view of a laparoscopic surgical instrument according to an embodiment of the present disclosure. Figure 2 schematically shows a structural view of a laparoscopic surgical instrument after disassembly of the forceps assembly according to an embodiment of the present disclosure. Figure 3 schematically shows an exploded view of the forceps assembly according to an embodiment of the present disclosure. Figure 4 schematically shows a structural diagram of a control mechanism according to an embodiment of the present disclosure.

[0043] As shown in Figures 1-4, laparoscopic surgical instruments may include a forceps assembly 1, an instrument rod 2, a push rod 3, an opening and closing drive rod 4, and a control mechanism 5.

[0044] The clamping head assembly 1 is used to grasp the target. The target can be understood as the object being grasped during laparoscopic surgery. The clamping head assembly 1 may include grasping forceps, dissecting forceps, needle holders, scissors, or clamping forceps, etc.

[0045] The pliers assembly 1 may include a pliers head 101, a fixed base 102, a swing base 103, a swing slider 104, a connecting rod 105, and a clamping base 106. The pliers head 101 is mounted on the clamping base 106, and the swing base 103 is detachably connected to the clamping base 106. The two ends of the connecting rod 105 are rotatably connected to the swing base 103 and the swing slider 104 respectively via pivots. The swing base 103 is rotatably connected to the fixed base 102. The swing slider 104 is slidably disposed within a groove in the fixed base 102. By sliding the swing slider 104 within the groove of the fixed base 102, a first force is applied through the connecting rod 105 to control the rotation of the swing base 103 around the fixed base 103, thereby causing the pliers head 101 to swing.

[0046] The instrument rod 2 is a hollow structure, and the fixed base 103 is fixed to one end of the instrument rod 2. The push rod 3 is built into the instrument rod 2 and can slide relative to the instrument rod 2. One end of the push rod 3 is connected to the yaw slider 104. The push rod 3 is configured to: under the control of the control structure 5, drive the yaw slider 104 to slide in the groove of the fixed base 102, and apply a first force through the connecting rod 105 to control the yaw base 103 to rotate around the fixed base 102, thereby causing the clamp head 101 to yaw.

[0047] The push rod 3 can also be a hollow structure, with the opening / closing drive rod 4 built into it and sliding relative to the push rod 3. One end of the opening / closing drive rod 4 is connected to the clamp head 101, and the opening / closing drive rod 4 is configured to drive the clamp head 101 to open and close under the drive of a second force parallel to the length direction of the opening / closing drive rod 4. The push rod 3, the instrument lever 2, and the opening / closing drive rod 4 can cooperate concentrically.

[0048] The control mechanism 5 includes an opening / closing trigger 501 and a gear structure. The gear structure is connected to one end of the opening / closing trigger 501, and the other end of the opening / closing drive rod 4 is detachably connected to the gear structure. Pressing the opening / closing trigger 501 drives the gear structure to rotate, thereby applying a second force to the opening / closing drive rod 4.

[0049] Traditional clamp head opening and closing controls suffer from insufficient rigidity, resulting in a maximum positive pressure of approximately 10N for the clamp head. However, by employing the gear structure control method provided in this embodiment, the maximum positive pressure provided to the clamp head exceeds 60N, significantly increasing the positive pressure. This higher positive pressure enhances the effectiveness of laparoscopic surgical instruments. For instance, in scenarios where the clamp head assembly 1 is a needle holder, it can firmly clamp the suture needle, preventing it from loosening or falling off during suturing due to insufficient positive pressure from the clamp head assembly 1, thus ensuring optimal suturing results.

[0050] It should be noted that when disassembling the pliers 101, the clamp base 106 is removed from the swing base 103, and then the other end of the opening and closing drive rod 4 is removed from the control mechanism 5, so that the opening and closing drive rod 4 can be pulled out from the push rod 3.

[0051] Furthermore, in the embodiments of this disclosure, the sway base 103 and the clamp base 106 can be detachably connected in various ways, such as threaded connection, interference fit, groove connection or magnetic attraction.

[0052] Figure 5 schematically shows the position diagram of the limiting mechanism according to an embodiment of the present disclosure.

[0053] As shown in Figure 5, the fixed base 102 and the yaw slider 104 are further configured such that when the yaw slider 104 slides to contact the end face of the fixed base 102 (as shown in the upper part of Figure 5), the yaw base 103 is limited to a straight position along the length of the push rod 3. That is, the limiting function is achieved by restricting the movement of the yaw slider 104 by the end face of the fixed base 102.

[0054] For example, after using laparoscopic surgical instruments, they need to be removed from the target object. To ensure smooth removal without causing further damage, the forceps head needs to be returned to its initial state, i.e., the straight position. In traditional laparoscopic surgical instruments, the operator needs to rely on experience to determine when the forceps head 101 should be returned to the straight position. However, this method can lead to inaccurate judgments, resulting in additional damage to the target object. In the embodiments of this disclosure, the oscillating slider 104 slides to engage with the fixed base 102. When the oscillating slider 104 contacts the end face of the fixed base 102, the forceps head 101 always remains in the straight position during removal, eliminating the need for operator judgment and preventing further damage to the target object when removing the forceps head 101.

[0055] Further referring to FIG4, in the embodiments of this disclosure, the control mechanism 5 further includes: a handle housing 502, a first support shaft 503 and a second support shaft 504, the first support shaft 503 and the second support shaft 504 being fixed on the handle housing 502.

[0056] The gear structure includes: a driving gear 505 and a driven gear 506. The driving gear 505 is rotatably connected to the first support shaft 503, and the driven gear 506 is rotatably connected to the second support shaft 504. The driving gear 505 and the driven gear 506 mesh.

[0057] When the opening / closing trigger 501 is pressed, the opening / closing trigger 501 rotates around the first support shaft 503, driving the drive gear 505 to rotate synchronously. Under the meshing action of the drive gear 505 and the driven gear 506, the drive gear 505 drives the driven gear 506 to rotate around the second support shaft 504, applying a second force to the opening / closing drive rod 4, thereby causing the opening / closing drive rod 4 to slide, thus realizing the opening and closing (R1) of the pliers assembly 1.

[0058] Figure 6 schematically shows an exploded view of a control mechanism according to an embodiment of the present disclosure.

[0059] As shown in Figures 4 and 6, in embodiments of this disclosure, the control mechanism 5 further includes a rigid spring 507. One end of the rigid spring 507 is fixedly connected to one end of the trigger 501, and the other end of the rigid spring 507 is fixedly connected to the handle housing 502. The rigid spring 507 is configured to provide a restoring force to the trigger 501. For example, when the trigger 501 is pressed, the rigid spring 507 provides a restoring force opposite to the pressing direction.

[0060] Laparoscopic surgical instruments are manually controlled, unlike machine-controlled instruments which offer greater precision, making it difficult to control the pressure applied. In traditional forceps opening and closing control methods, the trigger's return mechanism uses a spring. Since springs have relatively low rigidity, when the trigger 501 is pressed, the spring provides a smaller restoring force, while the rigid spring 507 provides a larger restoring force. Therefore, under the same force applied to the trigger 501 in both spring-returning and rigid spring-returning scenarios, the spring-returning trigger is pressed more deeply, meaning the step size of the pressed amplitude is larger per unit force, resulting in lower pressure control precision. Conversely, the rigid spring-returning trigger is pressed less deeply, meaning the step size of the pressed amplitude is smaller per unit force, resulting in higher pressure control precision.

[0061] Furthermore, the gear structure is made of metallic materials, meaning that both the driving gear and the driven gear can be made of metallic materials. It should be understood that other materials can also be used for the gear structure in the embodiments of this disclosure, as long as these materials can ensure sufficient mechanical strength; this disclosure does not impose any specific limitations.

[0062] Figure 7 schematically illustrates the connection structure between the opening / closing drive rod and the driven gear according to an embodiment of the present disclosure.

[0063] As shown in Figure 7, the driven gear 506 has a groove 5061, and the other end of the opening / closing drive rod 4 is inserted into the groove 5061, which allows for quick and convenient installation and removal of the pliers head. The end of the opening / closing drive rod 4 that is inserted into the groove 5061 can be a spherical structure, a cylindrical structure, etc. The specific shape only needs to ensure that the other end of the opening / closing drive rod 4 can be smoothly inserted into the groove 5061 and can drive the opening / closing drive rod 4 to slide when the driven gear 506 rotates. This disclosure does not impose any restrictions.

[0064] Figure 8 schematically illustrates the structure of the pliers head and opening / closing drive lever according to an embodiment of the present disclosure.

[0065] As shown in Figure 8, the opening and closing drive rod 4 is formed by the sequential fixed connection of the pull rod 401, the flexible shaft 402, and the disassembly rod 403. The pull rod 401 is connected to the clamp head 101, and the disassembly rod 403 can slide inside the push rod 3. The other end of the disassembly rod 403 passes through the push rod 3 and is detachably connected to the control mechanism 5.

[0066] The clamp head 101 includes: a first clamping plate 1011, a second clamping plate 1012, two cylindrical pins 1013, and two connecting plates 1014. Each connecting plate 1014 integrates a cylindrical pin 1013 at one end, and the connecting plate 1014 is rotatably connected to the first clamping plate 1011 and the second clamping plate 1012 through the cylindrical pins 1013. The other end of each connecting plate 1014 is connected to a pull rod 401. The pull rod 401 slides in the clamp base 106, driving the connecting plates 1014 to move. Under the drive of the connecting plates 1014, the first clamping plate 1011 and the second clamping plate 1012 rotate around the cylindrical pins 1013 to control the opening and closing movements of the first clamping plate 1011 and the second clamping plate 1012. It should be noted that the mechanism by which the pull rod 401 drives the first clamping plate 1011 and the second clamping plate 1012 can also be implemented by means of a sliding groove, an elastic hinge, etc.

[0067] The pull rod 401 and the flexible shaft 402 can withstand both thrust and pull forces. Their structure can be a flexible shaft. After the clamp assembly 1 is correctly installed, the flexible shaft 402 is positioned within the swing base 103. The rotation of the swing base 103 can cause the flexible shaft 402 to bend, but it will not affect the axial force transmission between the pull rod 401 and the disassembly rod 403.

[0068] For example, in the direction shown in Figure 8, when the opening / closing drive mechanism 502 is not engaged, the first clamp 1011 and the second clamp 1012 are in the open state. When the opening / closing drive mechanism 502 is engaged, causing the pull rod 401 to move to the right, it drives the two connecting plates 1014 to move, causing the angle between the two connecting plates 1014 and the first clamp 1011 and the second clamp 1012 to gradually increase and tend towards a straight line, thereby causing the first clamp 1011 and the second clamp 1012 to tend towards a closed state. When the opening / closing trigger 501 is released, the pull rod 401 is controlled to move to the left, causing the angle between the two connecting plates 1014 and the first clamp 1011 and the second clamp 1012 to gradually decrease and tend towards a bent state, thereby causing the first clamp 1011 and the second clamp 1012 to tend towards an open state. Using a flexible shaft allows for better control of the clamp head assembly 1's sway and enables bidirectional force transmission, increasing the separation function.

[0069] Figure 9 schematically shows an exploded view of the control mechanism in a first direction according to another embodiment of the present disclosure. Figure 10 schematically shows an exploded view of the control mechanism in a second direction according to another embodiment of the present disclosure.

[0070] As shown in Figures 9 and 10, the control mechanism 5 also includes:

[0071] The slider guide rail 508 is fixed on the handle housing 502.

[0072] The yaw wheel 509 and cam 510 are fixedly connected and coaxial. The cam 510 is provided with a curved groove 511. Preferably, the curved groove 511 is an Archimedean line.

[0073] The tilting seat 512 has a sliding shaft 513 below it. The tilting seat 512 is slidably installed in the slider guide rail 508, and the sliding shaft 513 is slidably installed in the curved groove 511. The other end of the push rod 3 is installed in the tilting seat 512.

[0074] Specifically, the rotating swivel wheel 509 drives the cam 510 to rotate, the sliding shaft 513 moves relative to the curved groove 511, and drives the swivel seat 512 to slide relative to the slider guide rail 508, thereby driving the push rod 3 to move in a direction parallel to the length direction of the push rod 3, that is, driving the push rod 3 to move within the instrument rod 2, thus realizing the swivel (R2) of the clamp head assembly 1.

[0075] Furthermore, referring to Figures 9 and 10, the control mechanism 5 also includes:

[0076] The self-rotating dial 514 is sleeved on the instrument bar 2 and connected to the eccentric seat 512. The self-rotating dial 514 is configured to drive the instrument bar 2 to rotate (R3) by rotating the self-rotating dial 514, thereby driving the clamp head assembly 1 to rotate.

[0077] Furthermore, in the embodiments of this disclosure, the straight-line distance between the connection point of the oscillating base 103 and the connecting rod 105 and the mounting point of the clamp head 101 and the clamp base 106 is shorter than that of conventional laparoscopic surgical instruments (generally greater than 11 mm), meaning the length of the bendable portion is shorter, allowing for use in a smaller space. In one example, the straight-line distance between the mounting point of the clamp head 101 and the clamp base 106 is 8.6 mm. It should be understood that this value is merely illustrative and not intended to limit the scope of this disclosure.

[0078] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this application is not limited thereto. Any changes or substitutions made within the spirit and principles of this disclosure should be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A laparoscopic surgical instrument, characterized in that, include: A clamp assembly (1) includes a clamp head (101), a fixed base (102), a yaw base (103), a yaw slider (104), a connecting rod (105), and a clamp base (106); wherein the clamp head (101) is mounted on the clamp base (106), and the yaw base (103) is detachably connected to the clamp base (106); the two ends of the connecting rod (105) are respectively connected to the yaw base (103) and the yaw slider (106) via rotating shafts. 104) Rotary connection, the sway base (103) is rotatably connected to the fixed base (102), the sway slider (104) is slidably disposed in the groove of the fixed base (102), and by sliding the sway slider (104) in the groove of the fixed base (102), the first force is applied by the connecting rod (105) to control the sway base (103) to rotate around the fixed base (102), thereby driving the pliers head (101) to sway; The instrument rod (2) is fixed to one end of the instrument rod (2); The push rod (3) is built into the instrument rod (2) and can slide relative to the instrument rod (2). One end of the push rod (3) is fixedly connected to the oscillating slider (104). An opening and closing drive rod (4) is built into the push rod (3) and can slide relative to the push rod (3). One end of the opening and closing drive rod (4) is connected to the pliers (101). The opening and closing drive rod (4) is configured to control the opening and closing of the pliers (101) under the drive of a second force parallel to the length direction of the opening and closing drive rod (4). The control mechanism (5) includes an opening and closing trigger (501) and a gear structure. The gear structure is connected to one end of the opening and closing trigger (501), and the other end of the opening and closing drive rod (4) is detachably connected to the gear structure. The second force is applied to the opening and closing drive rod (4) by pressing the opening and closing trigger (501) to drive the gear structure to rotate.

2. The laparoscopic surgical instrument according to claim 1, characterized in that, The fixed base (102) and the yaw slider (104) are further configured such that when the yaw slider (104) slides to contact the end face of the fixed base (102), the yaw base (103) is limited to a straight state along the length direction of the push rod (3).

3. The laparoscopic surgical instrument according to claim 1, characterized in that, The control mechanism (5) also includes: The handle housing (502), the first support shaft (503), and the second support shaft (504) are fixed on the handle housing (502); The gear structure includes a driving gear (505) and a driven gear (506). The driving gear (505) is rotatably connected to the first support shaft (503), and the driven gear (506) is rotatably connected to the second support shaft (504). The driving gear (505) and the driven gear (506) mesh. When the opening and closing trigger (501) is pressed, the opening and closing trigger (501) rotates around the first support shaft (503), driving the drive gear (505) to rotate synchronously. Under the meshing action, the drive gear (505) drives the driven gear (506) to rotate around the second support shaft (504) and apply the second force to the opening and closing drive rod (4).

4. The laparoscopic surgical instrument according to claim 3, characterized in that, The control mechanism (5) also includes: A rigid spring (507) is provided, one end of which is fixedly connected to one end of the opening / closing trigger (501), and the other end of which is fixedly connected to the handle housing (502). The rigid spring (507) is configured to provide a restoring force to the opening / closing trigger (501).

5. The laparoscopic surgical instrument according to claim 3, characterized in that, The driven gear (506) has a groove (5061), and the other end of the opening and closing drive rod (4) is inserted into the groove (5061) and is detachably connected to the driven gear (506).

6. The laparoscopic surgical instrument according to claim 3, characterized in that, The control mechanism (5) also includes: The slider guide rail (508) is fixed on the handle housing (502); A yaw wheel (509) and a cam (510) are provided, wherein the yaw wheel (509) and the cam (510) are fixedly connected and coaxial, and the cam (510) is provided with a curved groove (511). The sway seat (512) has a sliding shaft (513) below it. The sway seat (512) is slidably installed in the slider guide rail (508), and the sliding shaft (513) is slidably installed in the curved groove (511). The other end of the push rod (3) is installed in the sway seat (512). The cam (510) is rotated by rotating the swivel wheel (509), and the sliding shaft (513) moves relative to the curved groove (511), which in turn causes the swivel seat (512) to slide relative to the slider guide rail (508), thereby causing the push rod (3) to move in a direction parallel to the length direction of the push rod (3).

7. The laparoscopic surgical instrument according to claim 3 or 6, characterized in that, The control mechanism (5) also includes: A self-rotating dial (514) is sleeved on the instrument rod (2) and connected to the oscillation seat (512). The self-rotating dial (514) is configured to rotate the instrument rod (2) by rotating the self-rotating dial (514) to drive the pliers assembly (1) to rotate.

8. The laparoscopic surgical instrument according to claim 1, characterized in that, The opening and closing drive rod (4) is formed by a pull rod (401), a flexible shaft (402), and a disassembly rod (403) connected in sequence. The pull rod (401) is connected to the clamp head (101), and the disassembly rod (403) is detachably connected to the control mechanism (5).

9. The laparoscopic surgical instrument according to claim 8, characterized in that, The pliers (101) include: The device comprises a first clamping plate (1011), a second clamping plate (1012), two cylindrical pins (1013), and two connecting plates (1014). Each connecting plate (1014) has one of the cylindrical pins (1013) integrated at one end. The connecting plate (1014) is rotatably connected to the first clamping plate (1011) and the second clamping plate (1012) through the cylindrical pins (1013). The other end of each connecting plate (1014) is connected to the pull rod (401). Driven by the connecting piece (1014), the first clamp (1011) and the second clamp (1012) rotate around the cylindrical pin (1013) to control the opening and closing movements of the first clamp (1011) and the second clamp (1012).

10. The laparoscopic surgical instrument according to claim 1, characterized in that, The clamp assembly (1) includes gripping clamps, separating clamps, needle holders, scissors, or clamping clamps.

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