Laparoscopic surgical instrument having detachable forceps head

Abstract

Provided in the present disclosure is a laparoscopic surgical instrument having a detachable forceps head. The laparoscopic surgical instrument comprises: 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 is driven by an acting force in the direction of length of the opening and closing driving rod to control the opening and closing of the forceps head; and a control mechanism detachably connected to the opening and closing driving rod.

Description

Laparoscopic surgical instruments with detachable clamp heads

[0001] This disclosure claims priority to Chinese Patent Application No. 202410491234.4, 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 with a detachable forceps head. 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] In existing laparoscopic surgical instruments, the forceps head is typically fixed non-removably to the mechanical rod to ensure stability. However, this non-removable forceps head makes replacement via cleaning and washing inconvenient. Furthermore, the flexible portion of the forceps head in this design is relatively large, limiting the available space. Summary of the Invention

[0006] In view of this, the present disclosure provides a laparoscopic surgical instrument with a detachable forceps head to solve the above-mentioned technical problems existing in existing laparoscopic surgical instruments.

[0007] This disclosure provides a laparoscopic surgical instrument with a detachable clamp head, comprising: a clamp head assembly including a clamp head, a fixed base, a swing base, a swing slider, a connecting rod, and a clamp base; wherein the clamp head is mounted on the clamp base, and the swing base is detachably connected to the clamp base; both ends of the connecting rod are rotatably connected to the swing base and the swing slider respectively via rotating shafts, the swing base is rotatably connected to the fixed base, and the swing slider is slidably disposed in a groove of the fixed base; by sliding the swing slider in the groove of the fixed base, a first force is applied by the connecting rod to control the swing base to rotate around... The fixed base rotates, causing the clamp head to oscillate; the fixed base is fixed to one end of the instrument rod; the push rod is built into the instrument rod and can slide relative to the instrument rod, with one end of the push rod fixedly connected to the oscillation slider; the opening and closing drive rod is built into the push rod and can slide relative to the push rod, with one end of the opening and closing drive rod connected to the clamp head, and the opening and closing drive rod is configured to control the opening and closing of the clamp head under the drive of a second force parallel to the length direction of the opening and closing drive rod; the control mechanism is detachably connected to the other end of the opening and closing drive rod and is used to apply the first force and the second force.

[0008] According to embodiments of this 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.

[0009] According to embodiments of this disclosure, the detachable connection between the yaw base and the clamp base includes threaded connection, interference fit, sliding groove connection, or magnetic attraction.

[0010] 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.

[0011] 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.

[0012] According to an embodiment of the present disclosure, the control mechanism includes: a handle housing; and an opening / closing drive mechanism fixed to the handle housing and detachably connected to the opening / closing drive rod, the opening / closing drive mechanism being configured to provide a second force.

[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, causing the yaw seat to slide relative to the slider guide rail and apply a first force, causing the push rod to move in a direction parallel to the length direction of the push rod to cause the pliers head to yaw.

[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, the self-rotating dial being configured to apply a third force by rotating the self-rotating dial, thereby driving the instrument bar to rotate and thus driving the clamp head to rotate.

[0015] According to embodiments of this disclosure, the pliers assembly includes gripping pliers, separating pliers, needle holder pliers, scissors, or clamping pliers.

[0016] The laparoscopic surgical instrument with a detachable forceps head provided according to the embodiments of this disclosure can achieve at least the following technical effects:

[0017] 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.

[0018] 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. This allows for quick and accurate reset of the pliers assembly, eliminating the need for operators to rely on experience to determine whether the reset was successful and preventing further damage to the target object when pulling out the pliers. Attached Figure Description

[0019] 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:

[0020] Figure 1 schematically illustrates a perspective view of a laparoscopic surgical instrument with a detachable forceps head according to an embodiment of the present disclosure.

[0021] 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.

[0022] Figure 3 schematically shows an exploded view of a pliers assembly according to an embodiment of the present disclosure.

[0023] Figure 4 schematically shows the position diagram of the limiting mechanism according to an embodiment of the present disclosure.

[0024] Figure 5 schematically illustrates the structure of the pliers head and opening / closing drive lever according to an embodiment of the present disclosure.

[0025] Figure 6 schematically shows an exploded view of the control mechanism in a first direction according to an embodiment of the present disclosure.

[0026] Figure 7 schematically shows an exploded view of the control mechanism in a second direction according to an embodiment of the present disclosure.

[0027] Figure 8 schematically shows a structural diagram of a Y-type control mechanism according to an embodiment of the present disclosure. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] Figure 1 schematically shows a perspective view of a laparoscopic surgical instrument with a detachable forceps head according to an embodiment of the present disclosure. Figure 2 schematically shows a structural view of a laparoscopic surgical instrument after the forceps head assembly is disassembled according to an embodiment of the present disclosure. Figure 3 schematically shows an exploded view of the forceps head assembly according to an embodiment of the present disclosure.

[0036] As shown in Figures 1-3, a laparoscopic surgical instrument with a detachable clamp head may include a clamp head assembly 1, an instrument rod 2, a push rod 3, an opening and closing drive rod 4, and a control mechanism 5.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] The control mechanism 5 is detachably connected to the other end of the opening and closing drive rod 4, and is used to apply a first force and a second force to control the swing and opening and closing of the pliers 101.

[0042] It should be noted that when disassembling the pliers 101, the pliers 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.

[0043] 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.

[0044] Figure 4 schematically shows the position diagram of the limiting mechanism according to an embodiment of the present disclosure.

[0045] As shown in Figure 4, 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 4), 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.

[0046] 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.

[0047] Figure 5 schematically illustrates the structure of the pliers head and opening / closing drive lever according to an embodiment of the present disclosure.

[0048] As shown in Figure 5, the opening and closing drive rod 4 is formed by sequentially and fixedly connecting 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.

[0049] 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.

[0050] 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.

[0051] For example, in the direction shown in Figure 5, when the opening and closing drive mechanism 502 is not activated, the first clamp 1011 and the second clamp 1012 are in the open state. When the opening and closing drive mechanism 502 is activated, the lever 401 moves to the right, causing the two connecting pieces 1014 to move, gradually increasing the angle between the two connecting pieces 1014 and the first clamp 1011 and the second clamp 1012, and tending to a straight line, thereby causing the first clamp 1011 and the second clamp 1012 to tend to a closed state. When the opening and closing trigger 501 is released, the lever 401 is controlled to move to the left, gradually decreasing the angle between the two connecting pieces 1014 and the first clamp 1011 and the second clamp 1012, and tending to a bent state, thereby causing the first clamp 1011 and the second clamp 1012 to tend to an open state.

[0052] Referring again to Figures 1 and 2, in the embodiments of this disclosure, the control mechanism 5 further includes: a handle housing 501 and an opening and closing drive mechanism 502. The opening and closing drive mechanism 502 is fixed on the handle housing 501 and is detachably connected to the opening and closing drive rod 4. The opening and closing drive mechanism 502 is configured to provide a second force, thereby realizing the opening and closing (R1) of the pliers assembly 1.

[0053] Figure 6 schematically shows an exploded view of the control mechanism in a first direction according to an embodiment of the present disclosure. Figure 6 also schematically shows an exploded view of the control mechanism in a second direction according to an embodiment of the present disclosure.

[0054] Furthermore, as shown in Figures 6 and 7, control mechanism 5 also includes:

[0055] A slider guide rail 503 is fixed to the handle housing 501. A yaw wheel 504 and a cam 505 are fixedly connected and coaxial; the yaw wheel 504 and cam 505 have a curved groove 506. A yaw seat 507 has a sliding shaft 508 below it. The yaw seat 507 is slidably mounted within the slider guide rail 503, and the sliding shaft 508 is slidably mounted within the curved groove 506. The other end of the push rod 3 is mounted within the yaw seat 507. Rotating the yaw wheel 504 causes the cam 505 to rotate, the sliding shaft 508 moves relative to the curved groove 506, causing the yaw seat 507 to slide relative to the slider guide rail 503, applying a first force. This causes the push rod 3 to move in a direction parallel to its length, thereby causing the pliers head 101 to yaw (R2).

[0056] Furthermore, referring to Figures 6 and 7, the control mechanism 5 also includes:

[0057] The self-rotating dial 509 is sleeved on the instrument lever 2 and connected to the eccentric seat 507. The self-rotating dial 509 is configured to apply a third force by rotating the self-rotating dial 509, thereby driving the instrument lever 2 to rotate (R3) and thus driving the clamp head 101 to rotate.

[0058] 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.

[0059] Figure 8 schematically shows a structural diagram of a Y-type control mechanism according to an embodiment of the present disclosure.

[0060] As shown in Figure 8, the control mechanism 5 can adopt a Y-shaped structure, including:

[0061] The system comprises a first drive rod 510, a second drive rod 511, a connecting rod 512, two support rods 513, a spring 514, and a locking mechanism 515. One end of the connecting rod 512 is detachably connected to the opening / closing drive rod 4, and the other end is connected to the first drive rod 510 and the second drive rod 511 respectively via two support rods 513. The spring 514 is sleeved on the connecting rod 512, and the two support rods 513 provide outward tension.

[0062] When the first drive rod 510 and the second drive rod 511 are pressed, the connecting rod 512 is driven by the two support rods 513 to apply a second force to the opening and closing drive rod 4. The locking mechanism 515 locks the first drive rod 510 and the second drive rod 511, continuously applying the second force. When the first drive rod 510 and the second drive rod 511 are released, the locking mechanism 515 is disengaged, and under the tension of the two support rods 513 and the restoring force of the spring 514, the opening and closing drive rod 4 is driven back to its initial position.

[0063] The locking mechanism 515 can be composed of two parts: one part is fixed to the free end of the first drive rod 510, and the other part is fixed to the free end of the second drive rod 511. The two parts are locked to each other, thereby locking the first drive rod 510 and the second drive rod 511.

[0064] It should be noted that the control mechanism with a "Y" structure can adapt to the operation methods of different types of laparoscopic surgical instruments. For example, the control mechanism of the needle holder usually adopts a "Y" structure, which makes it easier to operate.

[0065] 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 with a detachable clamp head, 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) is detachably connected to the other end of the opening and closing drive rod (4) and is used to apply the first force and the second force.

2. The laparoscopic surgical instrument with detachable clamp head 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 with detachable clamp head according to claim 1 or 2, characterized in that, The detachable connection between the oscillating base (103) and the clamp base (106) can be achieved by means of threaded connection, interference fit, sliding groove connection or magnetic attraction.

4. The laparoscopic surgical instrument with a detachable clamp head according to claim 1 or 2, 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).

5. The laparoscopic surgical instrument with detachable clamp head according to claim 4, characterized in that, The pliers (101) includes: 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).

6. The laparoscopic surgical instrument with detachable forceps head according to claim 2, characterized in that, The control mechanism (5) includes: Handle housing (501); An opening and closing drive mechanism (502) is fixed to the handle housing (501) and detachably connected to the opening and closing drive rod (4). The opening and closing drive mechanism (502) is configured to provide the second force.

7. The laparoscopic surgical instrument with detachable clamp head according to claim 1 or 6, characterized in that, The control mechanism (5) also includes: The slider guide rail (503) is fixed on the handle housing (501); A yaw wheel (504) and a cam (505) are provided, wherein the yaw wheel (504) and the cam (505) are fixedly connected and coaxial, and the cam (505) is provided with a curved groove (506); The sway seat (507) has a sliding shaft (508) below it. The sway seat (507) is slidably installed in the slider guide rail (503), and the sliding shaft (508) is slidably installed in the curved groove (506). The other end of the push rod (3) is installed in the sway seat (507). The cam (505) is rotated by rotating the swivel wheel (504), the sliding shaft (508) moves relative to the curved groove (506), the swivel seat (507) slides relative to the slider guide rail (503) to apply the first force, and the push rod (3) moves in a direction parallel to the length direction of the push rod (3) to cause the pliers (101) to swivel.

8. The laparoscopic surgical instrument with detachable forceps head according to claim 7, characterized in that, The control mechanism (5) also includes: A self-rotating dial (509) is sleeved on the instrument rod (2) and connected to the oscillation seat (507). The self-rotating dial (509) is configured to apply a third force by rotating the self-rotating dial (509) to drive the instrument rod (2) to rotate, thereby driving the pliers head (101) to rotate.

9. The laparoscopic surgical instrument with detachable clamp head according to claim 1, characterized in that, The control mechanism (5) adopts a Y-shaped structure and includes: The system comprises a first drive rod (510), a second drive rod (511), a connecting rod (512), two support rods (513), a spring (514), and a locking mechanism (515). One end of the connecting rod (512) is detachably connected to the opening and closing drive rod (4), and the other end is connected to the first drive rod (510) and the second drive rod (511) respectively through two support rods (513). The spring (514) is sleeved on the connecting rod (512), and the two support rods (513) are used to provide outward tension. When the first drive rod (510) and the second drive rod (511) are pressed, the connecting rod (512) is driven by the two support rods (513) to apply the second force to the opening and closing drive rod (4). The first drive rod (510) and the second drive rod (511) are locked by the locking mechanism (515) to continuously apply the second force. When the first drive rod (510) and the second drive rod (511) are released, the locking mechanism (515) is released, and under the tension of the two support rods (513) and the restoring force of the spring (514), the opening and closing drive rod (4) is driven back to the initial position.

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