Laparoscopic surgical instrument based on gear control

Abstract

Provided in the present disclosure is a laparoscopic surgical instrument based on gear control. The laparoscopic surgical instrument comprises a forceps head assembly for clamping a target; an instrument shaft, the forceps head assembly being rotatably connected to one end of the instrument shaft; a push rod arranged in the instrument shaft and capable of sliding relative to the instrument shaft, wherein one end of the push rod is rotatably connected to the forceps head assembly, and the push rod is configured to be driven by a first acting force parallel to the direction of length of the push rod to drive the forceps head assembly to swing around the head end of the instrument shaft; an opening and closing driving rod arranged in the push rod and capable of sliding relative to the push rod, wherein the opening and closing driving rod has one end connected to the forceps head assembly, and is configured to be driven by a second acting force parallel to the direction of length of the opening and closing driving rod to drive the forceps head assembly to open and close; and a control mechanism comprising an opening and closing trigger and a gear structure, wherein the gear structure is connected to one end of the opening and closing trigger, the other end of the opening and closing driving rod is connected to the gear structure, and by means of pressing the opening and closing trigger, the gear structure is driven to rotate, thereby applying the second acting force to the opening and closing driving rod.

Description

Gear-controlled laparoscopic surgical instruments

[0001] This disclosure claims priority to Chinese Patent Application No. 202410488698.X, 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 gear-controlled 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 and results in a 9mm diameter connecting rod. This makes the instrument too thick and not compact enough. Furthermore, when the connecting rod rotates axially, the internal tungsten wires can become tangled, increasing the risk of breakage. The other method uses a single tungsten wire that loops 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 when controlling the opening and closing of the pliers, resulting in low positive pressure on the pliers, which is not conducive to clamping. Furthermore, insufficient mechanical strength can also lead to low control accuracy. Summary of the Invention

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

[0008] Embodiments of this disclosure provide a gear-controlled laparoscopic surgical instrument, comprising: a clamping head assembly for clamping a target; an instrument rod, the clamping head assembly being rotatably connected to one end of the instrument rod; a push rod, built into the instrument rod and slidable relative to the instrument rod, one end of the push rod being rotatably connected to the clamping head assembly; the push rod being configured to: drive the clamping head assembly to swing around the head end of the instrument rod under the drive of a first force parallel to the length direction of the push rod; an opening / closing drive rod, built into the push rod and slidable relative to the push rod, one end of the opening / closing drive rod being connected to the clamping head assembly, the opening / closing drive rod being configured to: drive the clamping head assembly to open and close under the drive of a second force parallel to the length direction of the opening / closing drive rod; and 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, and the other end of the opening / closing drive rod being connected to the gear structure, wherein pressing the opening / closing trigger drives the gear structure to rotate, thereby applying the second force to the opening / closing drive rod.

[0009] 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.

[0010] 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.

[0011] According to embodiments of this disclosure, the gear structure is made of metallic materials.

[0012] 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.

[0013] According to an embodiment of this disclosure, the curved groove is an Archimedean line.

[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 embodiments of this disclosure, the end of the opening / closing drive rod connected to the pliers assembly is a flexible shaft.

[0016] According to embodiments of this disclosure, the pliers assembly includes gripping pliers, separating pliers, needle holder pliers, scissors, or clamping pliers.

[0017] The gear-controlled laparoscopic surgical instrument provided according to the embodiments of this disclosure can achieve at least the following technical effects:

[0018] By utilizing a gear structure connected to the opening and closing drive rod, the force driving the forceps 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 forceps head, making the laparoscopic surgical instruments more suitable for the clamping scenarios. 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 forceps head opening and closing.

[0019] 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.

[0020] 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

[0021] The above and other objects, features, and advantages of this disclosure will become clearer from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0022] Figure 1 schematically illustrates a three-dimensional structural diagram of a gear-controlled laparoscopic surgical instrument according to an embodiment of the present disclosure.

[0023] Figure 2 schematically illustrates the structure of the control mechanism according to an embodiment of the present disclosure.

[0024] Figure 3 schematically shows an exploded view of a control mechanism according to an embodiment of the present disclosure.

[0025] Figure 4 schematically shows an exploded view of the control mechanism in a first direction according to another embodiment of the present disclosure.

[0026] Figure 5 schematically shows an exploded view of the control mechanism in a second direction according to another embodiment of the present disclosure.

[0027] Figure 6 schematically illustrates the structure of a clamping head assembly according to an embodiment of the present disclosure.

[0028] Figure 7 schematically illustrates the mounting structure of the slide and push rod according to an embodiment of the present disclosure.

[0029] Figure 8 schematically illustrates the structure of the pliers assembly after it has been tilted according to an embodiment of the present disclosure. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Figure 1 schematically shows a perspective view of a gear-based laparoscopic surgical instrument according to an embodiment of the present disclosure. Figure 2 schematically shows a structural diagram of a control mechanism according to an embodiment of the present disclosure.

[0038] As shown in Figures 1 and 2, a gear-controlled laparoscopic surgical instrument 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.

[0039] 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.

[0040] The clamp head assembly 1 is rotatably connected to one end of the instrument rod 2. The instrument rod 2 is a hollow structure, and the push rod 3 is built into the instrument rod 2, with one end rotatably connected to the clamp head assembly 1. The push rod 3 is configured to drive the clamp head assembly 1 to swing around the head end of the instrument rod 2 under the drive of a first force parallel to the length direction of the push rod 3, thereby achieving oscillation.

[0041] The push rod 3 can also be a hollow structure, with the opening and closing drive rod 4 built into it, and can slide relative to the push rod 3 (sliding left and right in the figure). One end of the opening and closing drive rod 4 is connected to the pliers assembly 1, and the opening and closing drive rod 4 is configured to drive the pliers assembly 1 to open and close under the drive of a second force parallel to the length direction of the opening and closing drive rod 4.

[0042] 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 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.

[0043] 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.

[0044] Further referring to FIG2, 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.

[0045] 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.

[0046] 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.

[0047] Figure 3 schematically shows an exploded view of a control mechanism according to an embodiment of the present disclosure.

[0048] As shown in Figures 2 and 3, in the embodiments of this disclosure, the control mechanism 5 further includes a rigid spring 508. One end of the rigid spring 508 is fixedly connected to one end of the trigger 501, and the other end of the rigid spring 508 is fixedly connected to the handle housing 502. The rigid spring 508 is configured to provide a restoring force to the trigger 501. For example, when the trigger 501 is pressed, the rigid spring 508 provides a restoring force opposite to the pressing direction.

[0049] 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 508 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.

[0050] 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.

[0051] Figure 4 schematically shows an exploded view of the control mechanism in a first direction according to another embodiment of the present disclosure. Figure 5 schematically shows an exploded view of the control mechanism in a second direction according to another embodiment of the present disclosure.

[0052] As shown in Figures 4 and 5, the control mechanism 5 also includes:

[0053] The slider guide rail 508 is fixed on the handle housing 502.

[0054] The oscillating dial 509 and the cam 510 are fixedly connected and coaxial. The cam 510 is provided with a curved groove 511, which is an Archimedes line.

[0055] 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.

[0056] 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.

[0057] Furthermore, referring to Figures 4 and 5, the control mechanism 5 also includes:

[0058] 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.

[0059] Furthermore, in the embodiments of this disclosure, the end of the opening / closing drive rod 4 connected to the clamp head assembly 1 is a flexible shaft. Using a flexible shaft instead of a tungsten wire rope can better achieve the deflection of the clamp head assembly 1, and can also transmit force in both directions, increasing the separation function.

[0060] Furthermore, in the embodiments of this disclosure, the instrument rod 2 and the push rod 3 are hollow push rods, and the push rod 3, the instrument rod 2, and the opening / closing drive rod 4 can be concentrically fitted. The diameter of the instrument rod 2 is less than or equal to 5 mm.

[0061] Figure 6 schematically illustrates the structure of a clamping head assembly according to an embodiment of the present disclosure.

[0062] As shown in Figure 6, the clamp head assembly 1 may include: a first clamping plate 101, a second clamping plate 102, a clamping pin 103, a sliding groove structure 104, an opening and closing sliding pin 105, a linkage mechanism 108, and a tower spring 109.

[0063] The first clamping plate 101 and the second clamping plate 102 are hinged and fixed to one end of the slide structure 104 via a clamping pin 103. There are two linkage mechanisms 108, one end of which is rotatably connected to the first clamping plate 101 and the second clamping plate 102 respectively, and the other end is rotatably connected to an opening / closing sliding pin 105, which is slidably disposed on the slide structure 104. A tower spring 109 is sleeved between the opening / closing sliding pin 15 and the slide structure 104, one end of which can be fixed to the slide structure 104, and the other end fixed to the opening / closing sliding pin 105. The slide structure 104 is rotatably connected to the instrument rod 2 and the push rod 3. When the push rod 3 is driven by a pushing or pulling force parallel to its central axis, the slide structure 104 rotates around the instrument rod 2 and the push rod 3.

[0064] Furthermore, the linkage mechanism 108 may include two cylindrical pins 106 and two connecting pieces 107. Each connecting piece 107 integrates a cylindrical pin 106 at one end, and one end of the connecting piece 107 is rotatably connected to the first clamping piece 101 and the second clamping piece 102 via the cylindrical pin 106. Driven by the connecting piece 107, the first clamping piece 101 and the second clamping piece 102 rotate around the cylindrical pin 106 to control the opening and closing movements of the first clamping piece 101 and the second clamping piece 102.

[0065] It should be noted that the first clamp 101 and the second clamp 102 can be in the form of scissors, gripping clamps, applying clamps, separating clamps, etc.

[0066] Figure 7 schematically illustrates the mounting structure of the slide and push rod according to an embodiment of the present disclosure.

[0067] As shown in Figure 7, the clamp head assembly 1 also includes a bending connecting rod 100, the two ends of which are rotatably connected to the sliding groove structure 104 and the push rod 3, respectively. Generally, there are two bending connecting rods 100, one at the top and one at the bottom, which ensures better rotation of the sliding groove structure 104 and the push rod 3, as well as stability. The clamp head assembly 1 is rotatably connected to the instrument rod 2 via a rotating pin 120.

[0068] For example, in the direction shown in Figure 7, when the push rod 3 is pulled to the right, it causes the sliding groove structure 104 to swing counterclockwise around the instrument rod 2, thereby causing the first clamp 101 and the second clamp 102 to deflect counterclockwise. When the push rod 3 is pushed to the left, it causes the sliding groove structure 104 to swing clockwise around the instrument rod 2, thereby causing the first clamp 101 and the second clamp 102 to deflect clockwise.

[0069] Figure 8 schematically illustrates the structure of the pliers assembly after it has been tilted according to an embodiment of the present disclosure.

[0070] For example, in the direction shown in Figure 8, when the opening / closing trigger 501 is not pulled, there is an angle between the two connecting pieces 107, and they are in a bent state. The opening / closing sliding pin 105 is located at the leftmost end of the slide groove in the slide groove structure 104. At this time, the first clamp piece 101 and the second clamp piece 102 are in an open state. When the opening / closing trigger 501 is pulled, causing the opening / closing sliding pin 105 to move to the right, the opening / closing sliding pin 105 causes the two connecting pieces 107 to move, so that the two connecting pieces 107 are closer to the first clamp piece 101 and the second clamp piece 102. The included angle gradually increases, tending to a straight state, thereby causing the first clamp plate 101 and the second clamp plate 102 to tend to close; when the opening and closing trigger 501 is released, the opening and closing sliding pin 105 moves to the left under the restoring force of the tower spring 109. The opening and closing sliding pin 105 does not apply tension to the two connecting plates 107, so that the included angle between the two connecting plates 107 and the first clamp plate 101 and the second clamp plate 102 gradually decreases, tending to bend, thereby causing the first clamp plate 101 and the second clamp plate 102 to tend to open.

[0071] 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 gear-controlled laparoscopic surgical instrument, characterized in that, include: A clamping head assembly (1) is used to clamp the target; Instrument rod (2), the forceps assembly (1) is rotatably connected to one end of the instrument rod (2); A 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 rotatably connected to the pliers assembly (1). The push rod (3) is configured to drive the pliers assembly (1) to swing around the head end of the instrument rod (2) under the drive of a first force parallel to the length direction of the push rod (3). 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 assembly (1). The opening and closing drive rod (4) is configured to drive the pliers assembly (1) to open and close 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 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 gear-controlled 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).

3. The gear-controlled laparoscopic surgical instrument according to claim 2, characterized in that, The control mechanism (5) also includes: A rigid spring (508) is provided, one end of which is fixedly connected to one end of the opening and closing trigger (501), and the other end of which is fixedly connected to the handle housing (502). The rigid spring (508) is configured to provide a restoring force to the opening and closing trigger (501).

4. The gear-controlled laparoscopic surgical instrument according to claim 2, 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).

5. The gear-controlled laparoscopic surgical instrument according to claim 4, characterized in that, The curved groove (511) is an Archimedes line.

6. The gear-controlled laparoscopic surgical instrument according to claim 4 or 5, 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.

7. The gear-controlled laparoscopic surgical instrument according to claim 1, characterized in that, The end of the opening and closing drive rod (4) connected to the clamp head assembly (1) is a flexible shaft.

8. The gear-controlled 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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