CN109984804B

CN109984804B - Minimally invasive surgical forceps

Info

Publication number: CN109984804B
Application number: CN201711470929.0A
Authority: CN
Inventors: 王屹初; 徐欣良宜; 李晓贞
Original assignee: Jiangsu Muou Medical Technology Co ltd
Current assignee: Jiangsu Puppet Medical Equipment Co ltd; Jingqin Zhizao Suzhou Medical Technology Co ltd
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2023-12-26
Anticipated expiration: 2037-12-29
Also published as: CN109984804A

Abstract

The invention provides a minimally invasive surgical forceps, which comprises: the execution part comprises a clamp head and a flexible joint which is connected with the clamp head and can drive the clamp head to move; a driving part connected with the executing part and comprising a joint driving structure for driving the flexible joint to move; the holding part is connected with the driving part and is linked with the joint driving structure, and the holding part can drive the joint driving structure to move when swinging, so that the flexible joint is driven to move to deflect the clamp head, the holding part can control the clamp head to open and close and can control the clamp head to deflect, and the operation is convenient.

Description

Minimally invasive surgical forceps

Technical Field

The invention relates to the technical field of medical instruments, in particular to a pair of minimally invasive surgical forceps.

Background

Minimally invasive surgery is the forefront development direction of the current medical science and technology, and has the characteristics of small operation wound, light postoperative pain, short hospitalization time, good beautifying effect and the like, so that the minimally invasive surgery has wide application and satisfactory effect in clinic. Because the traditional minimally invasive surgical instrument has limited degrees of freedom, has no degrees of freedom of pitching and swaying, is clumsy and poor in dexterity, and seriously affects the quality and precision of the operation.

The Chinese patent document CN105361924A discloses a surgical control universal surgical forceps, in particular a manual control universal minimally invasive surgical forceps, which comprises a base, a forceps rod and a forceps head, wherein the forceps head comprises a fixed forceps mouth and a movable forceps mouth, at least two steering joints are arranged between the forceps rod and the forceps head, the base is a hollow cavity, a control ball is arranged in the cavity, the control ball is provided with a trigger and at least two groups of control joint control lines for controlling the actions of the two steering joints, the base is also provided with a forceps mouth control mechanism for controlling the actions of a braking forceps mouth, and the forceps head can be flexibly rotated in a small range.

Chinese patent document CN103690222a discloses a laparoscopic surgical forceps with adjustable bending angle between the forceps head and the body, comprising: handle, the body, the bending connection spare, the bending adjustment spare, connect and binding clip, the bending connection spare contains the elastic sleeve who sets up with the driving medium is coaxial, the outside joint piece of axial setting at the elastic sleeve, both ends are connected with front end pole and driving medium respectively, the bending adjustment spare contains the bending adjustment knob, follow driving medium outer circumference gliding sliding block, and one end is connected with the joint and the other end is connected to the traction body of sliding block after running through every joint piece off-centre, through rotating the bending adjustment knob, make the sliding block take up or loosen the traction body along driving medium axial slip, thereby promote the bending connection spare to the one side bending of traction body thereby adjust the bending angle between binding clip and the outer tube.

The prior art can enable the clamp head to be freely opened and closed and deflect at a certain angle, but the movement of the joint is controlled by a special structure, so that the operation is inconvenient.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the operation forceps in the prior art are inconvenient to control the joint, so as to provide the minimally invasive operation forceps capable of flexibly controlling the joint movement.

In order to solve the technical problems, the invention provides a minimally invasive surgical forceps, comprising:

the execution part comprises a clamp head and a flexible joint which is connected with the clamp head and can drive the clamp head to move;

a driving part connected with the executing part and comprising a joint driving structure for driving the flexible joint to move;

and the holding part is connected with the driving part and is linked with the joint driving structure.

The actuating portion further comprises a rod member connecting the joint driving structure and the flexible joint.

The joint driving structure comprises a joint control line, one end of the joint control line is connected with the holding part, and the other end of the joint control line is connected with the flexible joint.

The rod piece comprises an accommodating cavity which is arranged in the rod piece and used for accommodating the joint control wire.

The rod piece is of a tubular structure.

The joint control lines are distributed at one end close to the holding part and have different axial displacements through the joint driving structure under the axial movement of the holding part.

The joint driving structure comprises a fixing line structure capable of fixing the joint control line.

The wire fixing structure comprises:

a wire fixing body;

the plurality of protruding blocks are arranged on the fixing line body and correspond to the plurality of joint control lines respectively, and each protruding block is suitable for fixing the corresponding joint control line.

And each lug is provided with a wire fixing hole for the joint control wire to pass through and fix.

The joint driving structure further includes a wire structure for smoothly guiding a plurality of the joint control wires into the rod member, the wire structure including:

the wire seat is provided with a plurality of wire grooves capable of guiding the joint control wires, and the wire grooves are respectively and correspondingly arranged with the joint control wires; the connecting line of one end of the wire groove, which is close to the wire fixing structure, and the wire fixing hole is parallel to the rod piece;

the housing is sleeved outside the wire seat and is suitable for preventing the joint control wire from falling out of the wire groove.

The joint driving structure further comprises a driving body which is arranged between the holding part and the rod piece and can enable the holding part to rotate relative to the rod piece.

The driving body comprises a first hook structure.

The first hook structure comprises:

a first hinge member hinged to the grip portion through a first hinge shaft;

the second hinge piece is arranged in the first hinge piece in a connecting way with the rod piece and is hinged with the first hinge piece through a second hinge shaft, and the first hinge shaft is intersected with the second hinge shaft.

The first hinge piece is a ring body, and the second hinge piece is a sphere.

The drive body further includes a second hook hinge structure.

The second hook structure comprises:

the third hinge piece is hinged with the wire fixing structure through a third hinge shaft, and the wire fixing structure is fixedly connected with the second hinge piece;

and the fourth hinge part is fixedly connected with the rod piece and arranged in the third hinge part, and is hinged with the third hinge part through a fourth hinge shaft, and the third hinge shaft is intersected with the fourth hinge shaft.

The third hinge member and the fourth hinge member are ring bodies, respectively.

The joint driving structure further comprises a rotating wheel which is rotatably connected with the holding part and drives the wire fixing structure to rotate.

The first hook hinge structure is arranged in the rotating wheel, and the first hinge piece is hinged on the rotating wheel through the first hinge shaft.

The grip portion includes:

a first housing;

the second shell is connected with the first shell in a matched manner, and the whole body formed by the matched connection of the first shell and the second shell is hinged with the driving body;

the crank sliding block structure comprises a crank structure formed by a pressing structure of the holding part and a sliding block structure connected with a clamp head control line for controlling the clamp head to open and close.

The sliding block structure is axially and slidably connected with the rotating wheel.

The sliding block structure is a regular hexagon structure, and a regular hexagon groove which can be matched with the regular hexagon structure is formed in the rotating wheel.

The arm support device further comprises a support frame, wherein the first end of the support frame is connected with the rod piece, and the second end of the support frame is provided with a support hole suitable for placing an arm.

The second end of the support frame includes:

the fifth hinge piece is hinged with the body of the support frame through a fifth hinge shaft;

and a sixth hinge member hinged to the fifth hinge member through a sixth hinge shaft intersecting the fifth hinge shaft.

The fifth hinge is a ring body, and the sixth hinge is a half-ring body.

The fifth hinge member is provided with C-shaped holes along the surface of the annular wall at diametrically opposite positions so that the annular boss on the sixth hinge member is adapted to be inserted into the C-shaped holes.

The sixth hinging piece is provided with a hole capable of fixing the arm.

The flexible joint is characterized by further comprising an elastic shaft penetrating through the flexible joint, one end of the elastic shaft is connected with the rear end of the clamp head, and the other end of the elastic shaft is connected with the holding part.

The elastic shaft is a spring flexible shaft.

The technical scheme of the invention has the following advantages:

1. according to the minimally invasive surgical forceps provided by the invention, the holding part is connected with the driving part and is linked with the joint driving structure, and the holding part can drive the joint driving structure to move when swinging, so that the flexible joint is driven to move to deflect the forceps head, the holding part can control the forceps head to open and close and also control the forceps head to deflect, and the operation is convenient.

2. According to the minimally invasive surgical forceps provided by the invention, the actuating part further comprises the rod piece for connecting the joint driving structure and the flexible joint, so that the length of the surgical forceps is increased to a certain extent, the forceps head can be controlled to move in a larger range through the movement of the hand-held part in a smaller range, and the twisting of the wrist is reduced to a certain extent.

3. The rod piece comprises the accommodating cavity which is arranged in the rod piece and used for accommodating the joint control wire, and the joint control wire is placed in the rod piece, so that medical accidents caused by the fact that the joint control wire is mistakenly touched to enable the forceps head to rotate to a place where operation is not needed can be avoided.

4. The invention provides a pair of minimally invasive surgical forceps, wherein the joint driving structure further comprises a lead structure for smoothly guiding a plurality of joint control wires into a rod piece, and the lead structure comprises: the wire seat is provided with a plurality of wire grooves capable of guiding the joint control wires, and the wire grooves are respectively and correspondingly arranged with the joint control wires; the connecting line of one end of the wire groove, which is close to the wire fixing structure, and the wire fixing hole is parallel to the rod piece; the housing is sleeved outside the wire seat and is suitable for preventing the joint control wire from falling out of the wire groove, so that the joint control wire can be prevented from directly entering the rod piece after directly coming out of the wire fixing structure to be concentrated in stress, and the service life of the joint control wire is prolonged.

5. The invention provides a pair of minimally invasive surgical forceps, the joint driving structure further comprises a driving body which is arranged between the holding part and the rod piece and can enable the holding part to rotate relative to the rod piece, the holding part can rotate relative to the rod piece through the arrangement of the driving body, the wrist part can flexibly rotate, the distortion of the wrist is reduced, and the forceps are more flexible and comfortable to operate.

6. According to the minimally invasive surgical forceps provided by the invention, the driving body further comprises the second hook structure, the flexible joint can swing to a larger extent through the swing of the holding part to a smaller extent, and the working range of the forceps head is enlarged, so that the opening size of a wound can be reduced, the recovery of a patient is facilitated, the operation of the surgical forceps is more flexible, and the wrist part is prevented from being distorted.

7. The invention provides a pair of minimally invasive surgical forceps, the joint driving structure further comprises a rotating wheel which is rotatably connected with the holding part and drives the wire fixing structure to rotate, the rotating wheel can enable the wire fixing structure to rotate to drive the joint control wire to rotate so as to enable the joint string to rotate, finally, the forceps head can be enabled to rotate from one direction to the other direction, the operation is simple, and the operation quality and efficiency are improved.

8. The invention provides a minimally invasive surgical forceps, wherein the holding part comprises: a first housing; the second shell is connected with the first shell in a matched manner, and the whole body formed by the matched connection of the first shell and the second shell is hinged with the driving body; the crank sliding block structure comprises a crank structure formed by a pressing structure of the holding part and a sliding block structure connected with a clamp head control line for controlling the clamp head to open and close.

9. According to the minimally invasive surgical forceps provided by the invention, the sliding block structure is of the regular hexagon structure, and the regular hexagon groove which can be matched with the regular hexagon structure is formed in the rotating wheel, so that the sliding block structure and the rotating wheel can synchronously rotate, and the front-back movement of the sliding block structure is not influenced.

10. The minimally invasive surgical forceps further comprise a support frame, the first end of the support frame is connected with the rod piece, the second end of the support frame is provided with a support hole suitable for placing an arm, when the surgical forceps are operated, the arm is placed in the support hole, the movement of the whole surgical forceps can be controlled through the movement of the arm, the separation of the wrist and the arm is achieved, and therefore the distortion of the wrist is reduced.

11. The invention provides a pair of minimally invasive surgical forceps, wherein the second end of a supporting frame comprises: the fifth hinge piece is hinged with the body of the support frame through a fifth hinge shaft; and the sixth hinge part is hinged with the fifth hinge part through a sixth hinge shaft, and the sixth hinge shaft is intersected with the fifth hinge shaft, so that the arm can rotate in the supporting hole, the flexibility of the arm is increased, and the operation burden of the wrist at the front end of the arm is reduced.

12. According to the minimally invasive surgical forceps provided by the invention, the C-shaped holes are formed in the radial opposite positions of the fifth hinging piece along the surface of the annular wall, so that the annular boss on the sixth hinging piece is suitable for being inserted into the C-shaped holes, and the sixth hinging piece can be conveniently and smoothly installed into the fifth hinging piece.

13. The minimally invasive surgical forceps provided by the invention further comprise an elastic shaft penetrating through the flexible joint, one end of the elastic shaft is connected with the rear end of the forceps head, the other end of the elastic shaft is connected with the holding part, and the elastic shaft can prevent the flexible joint from deflecting under the gravity of the flexible joint without being driven by the driving force, so that medical accidents occur.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a minimally invasive surgical forceps according to a first embodiment of the present invention;

FIG. 2 is a schematic view of an actuator of the minimally invasive surgical forceps shown in FIG. 1;

FIG. 3 is an exploded view of the articulation drive structure of the minimally invasive surgical forceps of FIG. 1;

FIG. 4 is a schematic view showing the internal structure of a holding part of the minimally invasive surgical forceps shown in FIG. 1;

FIG. 5 is an exploded view of the buttress mount of the minimally invasive surgical clamp of FIG. 1;

fig. 6 is a schematic view of the structure of the minimally invasive forceps shown in fig. 1 after the grasping portion swings.

Reference numerals illustrate:

1-an execution unit; 2-a driving part; 3-a grip;

4-supporting frames; 5-bar members; 6-a first chuck;

7-a second chuck; 8-four bar linkage; 9-a sheath;

10-a first steel pipe; 11-flexible joint; 12-rotating wheel;

13-a first hinge; 14-a second hinge; 15-a wire fixing structure;

16-a third hinge; 17-fourth hinge; 18-wire holders;

19-a housing; 20-pressing structure; a 21-slider structure;

22-fifth hinge; 23-sixth hinge.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Example 1

Fig. 1-6 show a specific embodiment of a minimally invasive surgical forceps, which comprises an executing part 1, a driving part 2, a holding part 3 and a supporting frame 4.

The executing part 1 comprises a clamp head and a flexible joint 11, as shown in fig. 2, the clamp head comprises a first clamping head 6 and a second clamping head 7 hinged with the first clamping head 6; the four-bar linkage 8, the extension sections of the first chuck 6 and the second chuck 7 form two adjacent bars of the four-bar linkage 8, a sheath 9 is arranged outside the four-bar linkage 8, the end part of the sheath 9 is connected with a first steel tube 10, the end part of a short steel tube is connected with a flexible joint 11, the end part of the flexible joint 11 is connected with a section of bar 5 with the length far longer than that of the first steel tube 10, and in the embodiment, the bar 5 is a second steel tube.

The driving part 2 comprises a clamp head driving structure for controlling the clamp head to open and close and a joint driving structure for controlling the flexible joint 11 to move.

The clamp head driving structure comprises a clamp head control wire, one end of the clamp head control wire is connected with the four-bar mechanism 8, and the other end of the clamp head control wire is connected with the holding part 3. The outside of binding clip control line is equipped with the spring flexible axle, the spring flexible axle runs through flexible joint 11 sets up, the one end of spring flexible axle with sheath 9 fixed connection, the other end fixed connection is on the portion of gripping 3.

The joint driving structure comprises a plurality of joint control lines and a line fixing structure 15 for fixing the joint control lines, a plurality of joint control lines are smoothly led into the guide line structure in the rod piece 5, a driving body which is arranged between the holding part 3 and the rod piece 5 and can enable the holding part 3 to rotate relative to the rod piece 5 is rotatably connected with the holding part 3 and drives the line fixing structure 15 to rotate, and a rotating wheel 12 is arranged between the holding part 3 and the rod piece 5.

The driving body comprises a first hook structure and a second hook structure, the first hook structure is arranged in the rotating wheel 12, and the first hook structure comprises: a first hinge member 13, which is a ring body, hinged to the rotating wheel 12 through a first hinge shaft; a second hinge member 14, which is a sphere, is provided in the first hinge member 13 in connection with the rod 5, and is hinged to the first hinge member 13 through a second hinge shaft intersecting the first hinge shaft; the second hook structure comprises: a third hinge 16 hinged with the wire fixing structure 15 through a third hinge shaft, wherein the wire fixing structure 15 is fixedly connected with the second hinge 14; and a fourth hinge 17 fixedly connected with the rod 5 and disposed in the third hinge 16, and hinged with the third hinge 16 through a fourth hinge shaft, wherein the third hinge shaft intersects with the fourth hinge shaft. In this embodiment, as shown in fig. 3, the wire fixing structure 15 and the second hinge member 14 are integrally formed, two ends of the wire fixing structure have hollow hemispheric structures with opposite directions, the first hinge member 13 is provided with a first bearing hole suitable for placing a bearing, the rotating wheel 12 is provided with a pin hole at a position corresponding to the first bearing hole, after the rotating wheel 12 is mounted on the first hinge member 13 provided with a bearing, a pin passes through the pin hole and the first bearing hole, and a first hinge shaft is formed by connecting the centers of the two opposite first bearing holes; the second hinge member 14 is provided with a second bearing hole suitable for bearing placement, the first hinge member 13 is provided with a pin hole at a position corresponding to the second bearing hole, after the first hinge member 13 is mounted on the second hinge member 14 provided with the bearing, a pin penetrates through the pin hole and the second bearing hole, and a second hinge shaft is formed by connecting the centers of the two opposite second bearing holes; the third hinge piece 16 is provided with a third bearing hole suitable for bearing placement, the wire fixing structure 15 is provided with a pin hole corresponding to the third bearing hole, a pin penetrates through the pin hole and the third bearing hole after the wire fixing structure 15 is installed on the third hinge piece 16 provided with the bearing, and the center connecting wires of the two opposite third bearing holes form the third hinge shaft; the fourth hinge member 17 is fixedly connected with the rod member 5, a fourth bearing hole suitable for bearing placement is formed in the fourth hinge member 17, a pin hole is formed in a position, corresponding to the fourth bearing hole, of the third hinge member 16, after the third hinge member 16 is mounted on the fourth hinge member 17 with the bearing, a pin penetrates through the pin hole and the fourth bearing hole, and a center connecting line of the two opposite fourth bearing holes forms the fourth hinge shaft.

As shown in fig. 3, the wire fixing structure 15 includes a wire fixing body and a plurality of bumps, where the bumps and the plurality of joint control wires are respectively and correspondingly disposed on the wire fixing body, each bump is adapted to fix the corresponding joint control wire, and each bump is provided with a wire fixing hole through which the joint control wire passes and is fixed.

The wire structure comprises a wire seat 18 and a housing 19, wherein the wire seat 18 is provided with a plurality of wire grooves capable of guiding joint control wires, and the wire grooves are respectively and correspondingly arranged with the joint control wires; the connecting line of one end of the wire groove, which is close to the wire fixing structure 15, and the wire fixing hole is parallel to the rod piece 5; the housing 19 is sleeved outside the wire seat 18 and is suitable for preventing the joint control wire from falling out of the wire groove, in this embodiment, the wire seat 18 is sleeved on the rod 5, the fourth hinge member 17 is fixedly connected with the rod 5 by being fixedly connected with the wire seat 18, as shown in fig. 3, the wire seat 18 is provided with a plurality of slots along the axial direction, each slot is further provided with a clamping groove, a clamping block matched with the clamping groove is arranged inside the fourth hinge member 17, during installation, a bump on the fourth hinge member 17 is installed on the wire seat 18 along the slots, when the bump is moved to the clamping groove, the clamping block on the fourth hinge member 17 is rotated to clamp the clamping block in the clamping groove, then the cutting is inserted into the slots to fix the positions of the fourth hinge member 17 and the wire seat 18, and the arrangement is convenient for fixedly installing the fourth hinge member 17 on the wire seat 18.

As shown in fig. 4, the holding portion 3 includes a first housing, a second housing, and a crank block structure, where the second housing is cooperatively connected with the first housing, and an integral body formed by cooperatively connecting the first housing and the second housing is hinged with the driving body; the crank sliding block structure comprises a crank structure formed by a pressing structure 20 of the holding part 3 and a sliding block structure 21 connected with a clamp head control line for controlling the clamp head to open and close. The opening and closing movement of the clamp head can be controlled by pressing the pressing structure 20, the structure is simple, the operation is convenient, and the first shell and the second shell are matched and connected, so that the clamp head is convenient to disassemble and assemble. The sliding block structure 21 is axially slidably connected with the rotating wheel 12, in this embodiment, the sliding block structure 21 is in a regular hexagonal structure, and a regular hexagonal groove capable of being matched with the regular hexagonal structure is formed in the rotating wheel 12, so that the sliding block structure 21 and the rotating wheel 12 are guaranteed to rotate synchronously, and the front-back movement of the sliding block structure 21 is not affected.

The first end of support frame 4 with member 5 is connected, and the second end has the supporting hole that is fit for the arm and puts into, and support frame 4's setting, when operating the operation pincers, the arm is put into the supporting hole, and the removal of whole operation pincers of accessible arm's removal control has realized the separation of wrist and arm to the distortion to the wrist has been reduced. The second end of the support frame 4 comprises: a fifth hinge 22 hinged to the body of the support frame 4 through a fifth hinge shaft; the sixth hinge member 23 is hinged to the fifth hinge member 22 through a sixth hinge shaft, and the sixth hinge shaft intersects with the fifth hinge shaft, so that the arm can rotate in the supporting hole, and flexible operation of the wrist at the front end of the arm is facilitated. In this embodiment, a fifth bearing hole for accommodating a bearing is formed in the fifth hinge 22, a pin hole is formed in the support frame 4 body at a position corresponding to the fifth bearing hole, a pin is inserted into the pin hole and the center of the fifth bearing hole after the bearing is mounted on the fifth hinge 22, and the center connecting lines of the two opposite fifth bearing holes form the fifth hinge shaft; the fifth hinge member 22 is provided with C-shaped holes along the surface of the annular wall at diametrically opposite positions, so that the annular boss on the sixth hinge member 23 is suitable for being inserted into the C-shaped holes, and the sixth hinge member 23 is conveniently and smoothly installed into the fifth hinge member 22, and the central connecting line of the two opposite C-shaped holes forms the sixth hinge shaft. The sixth hinge member 23 is provided with a hole for fixing the arm, and when in use, the bag is bound to the arm after passing through the hole, and then the sixth hinge member 23 is mounted on the fifth hinge member 22, so that the problem that the arm is too thick and inconvenient to pass through the supporting hole is avoided.

When the clamp is used, the crank structure of the holding part 3 is pressed, the crank structure drives the slide block structure 21 to move, and the slide block structure 21 drives the four-bar linkage of the clamp head to move through the clamp head control line, so that the first clamp head 6 and the second clamp head 7 realize opening and closing movements; when the pliers head is required to deflect for a certain angle, as shown in fig. 6, the holding part 3 is swung, the rotating wheel 12 swings along with the holding part 3, the first hinging piece 13 and the second hinging piece 14 swing along with the holding part 3, the wire fixing structure 15 swings along with the first hinging piece 13, so that the joint control wires on the wire fixing structure 15 are axially displaced, the axial displacement of each joint control wire is different, the flexible joint 11 penetrating through the joint control wire is deflected, and finally the pliers head is deflected; when the pliers head needs to rotate for a certain angle, the rotating wheel 12 is rotated, the rotating wheel 12 drives the first hinging piece 13 and the second hinging piece 14 to rotate, the wire fixing structure 15 rotates along with the first hinging piece 13, and the joint control wire rotates along with the first hinging piece, so that the flexible joint 11 penetrating through the joint control wire rotates, and finally the pliers head rotates; when the forceps need to be moved integrally, the arm applies force to drive the support frame 4 to move so as to move the forceps. The operating forceps holding part 3 has higher degree of freedom, the wrist can flexibly rotate during operation, the operation is convenient, and the twisting of the wrist is reduced.

In an alternative embodiment, the fastening structure 15 may be arranged directly on the grip part 3, so that the grip part 3 directly drives the joint control line to change its displacement in the axial direction during swinging, thereby deflecting the flexible joint 11.

The second hook structure may not be provided, and the second hinge member 14 of the first hook structure may be fixedly connected to the rod 5, or may also implement the deflection of the pliers head.

The guide wire means may be omitted and the articulation control wire introduced directly into the rod 5.

The Hooke's joint structure can be replaced by a spherical joint connection structure, so that the holding part 3 is in spherical joint connection with the rod piece 5.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims

1. A minimally invasive surgical clamp, comprising:

the executing part (1) comprises a clamp head and a flexible joint (11) which is connected with the clamp head and can drive the clamp head to move;

a driving part (2) connected with the executing part (1) and comprising a joint driving structure for driving the flexible joint (11) to move;

a grip part (3) connected to the drive part (2) and linked with the joint drive structure;

the executing part (1) further comprises a rod piece (5) for connecting the joint driving structure and the flexible joint (11);

the joint driving structure comprises a joint control line, one end of the joint control line is connected with the holding part (3), and the other end of the joint control line is connected with the flexible joint (11);

the joint driving structure comprises a fixing line structure (15) capable of fixing the joint control line;

the joint driving structure also comprises a driving body which is arranged between the holding part (3) and the rod piece (5) and can enable the holding part (3) to rotate relative to the rod piece (5);

the driving body comprises a first hook structure;

the first hook structure comprises:

a first hinge (13) hinged to the grip (3) by a first hinge shaft;

the second hinge piece (14) is arranged in the first hinge piece (13) in a connecting manner with the rod piece (5) and is hinged with the first hinge piece (13) through a second hinge shaft, and the first hinge shaft is intersected with the second hinge shaft;

the driving body further comprises a second hook hinge structure;

the joint driving structure further comprises a rotating wheel (12) which is rotatably connected with the holding part (3) and drives the wire fixing structure (15) to rotate;

the first hinge (13) is hinged to the rotating wheel (12) through the first hinge shaft;

the second hook structure comprises:

the third hinge piece (16) is hinged with the wire fixing structure (15) through a third hinge shaft, and the wire fixing structure (15) is fixedly connected with the second hinge piece (14);

and the fourth hinge piece (17) is fixedly connected with the rod piece (5) and arranged in the third hinge piece (16) and is hinged with the third hinge piece (16) through a fourth hinge shaft, and the third hinge shaft is intersected with the fourth hinge shaft.

2. Minimally invasive surgical forceps according to claim 1, characterized in that the rod (5) comprises a receiving cavity provided in the rod (5) for receiving the articulation control wire.

3. Minimally invasive surgical forceps according to claim 2, characterized in that the rod (5) is of tubular construction.

4. A minimally invasive surgical forceps according to any of claims 1-3, characterized in that the articulation control wire has a plurality and is arranged at one end near the grip portion (3) in a decentralized manner and has different axial displacements by the articulation drive arrangement under axial movement of the grip portion (3).

5. Minimally invasive surgical forceps according to claim 1, characterized in that the fixation means (15) comprise:

a wire fixing body;

6. The minimally invasive surgical clamp according to claim 5, wherein each of the projections is provided with a fixation hole through which the joint control wire passes and is fixed.

7. A minimally invasive surgical forceps according to claim 6, characterized in that the articulation driving structure further comprises a guide wire structure for smooth introduction of a plurality of articulation control wires into the rod (5), the guide wire structure comprising:

the wire seat (18) is provided with a plurality of wire grooves capable of guiding the joint control wires, and the wire grooves are respectively arranged corresponding to the joint control wires; the connecting line of one end of the wire groove, which is close to the wire fixing structure (15), and the wire fixing hole is parallel to the rod piece (5);

and the housing (19) is sleeved outside the wire seat (18) and is suitable for preventing the joint control wire from falling out of the wire groove.

8. Minimally invasive surgical forceps according to claim 1, characterized in that the first articulation (13) is a ring body and the second articulation (14) is a sphere.

9. Minimally invasive surgical forceps according to claim 1, characterized in that the third articulation (16) and the fourth articulation (17) are respectively ring bodies.

10. Minimally invasive surgical forceps according to claim 1, characterized in that the first hook-and-loop structure is provided in the wheel (12).

11. Minimally invasive surgical forceps according to claim 1, characterized in that the grip (3) comprises:

a first housing;

the crank sliding block structure comprises a crank structure formed by a pressing structure (20) of the holding part (3) and a sliding block structure (21) connected with a clamp head control line for controlling the clamp head to open and close.

12. Minimally invasive surgical forceps according to claim 11, characterized in that the slider structure (21) is axially slidingly connected with the runner (12).

13. Minimally invasive surgical forceps according to claim 12, characterized in that the slider structure (21) is a regular hexagonal structure, and the runner (12) is internally provided with regular hexagonal grooves which can be matched with the regular hexagonal structure.

14. A minimally invasive surgical forceps according to any of claims 1-3, 5-13, further comprising a support frame (4), the support frame (4) being connected at a first end to the rod (5) and at a second end having a support aperture adapted for insertion of an arm.

15. Minimally invasive surgical forceps according to claim 14, characterized in that the second end of the support frame (4) comprises:

a fifth hinge member (22) hinged to the body of the support frame (4) through a fifth hinge shaft;

a sixth hinge (23) hinged to the fifth hinge (22) by a sixth hinge axis intersecting the fifth hinge axis.

16. Minimally invasive surgical forceps according to claim 15, characterized in that the fifth articulation (22) is a ring body and the sixth articulation (23) is a half-ring body.

17. Minimally invasive surgical forceps according to claim 16, characterized in that the fifth articulation (22) is provided with C-shaped holes along the surface of the annular wall in diametrically opposite positions, so that the annular boss on the sixth articulation (23) is adapted to be inserted into the C-shaped holes.

18. Minimally invasive surgical forceps according to any of claims 16-17, characterized in that the sixth articulation (23) is provided with holes for fixing arms.

19. A minimally invasive surgical clamp according to any one of claims 1-3, 5-13 and 15-17, characterized in that it further comprises an elastic shaft arranged through the flexible joint (11), one end of the elastic shaft being connected to the rear end of the clamp head and the other end being connected to the grip portion (3).

20. The minimally invasive surgical clamp of claim 19, wherein the elastic shaft is a spring flexible shaft.