CN114886509A

CN114886509A - Minimally invasive surgical forceps with external transmission steel cable

Info

Publication number: CN114886509A
Application number: CN202210733559.XA
Authority: CN
Inventors: 陈飞蛟; 刘剑
Original assignee: Shanghai Ruitouch Technology Co ltd
Current assignee: Shanghai Ruitouch Technology Co ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-08-12

Abstract

The invention relates to the field of medical instruments, in particular to minimally invasive surgical forceps with an external transmission steel cable, which comprises a base, a supporting rod and a tail end assembly, wherein the supporting rod is of a solid structure, one end of the supporting rod is connected with the base, the other end of the supporting rod is connected with the tail end assembly, the tail end assembly comprises a wrist part, a finger A and a finger B, the wrist part of the tail end assembly is rotatably connected to the supporting rod through a pin shaft E, the finger A and the finger B are rotatably connected to the other end of the wrist part through a pin shaft B, the wrist part, the finger A and the finger B rotate around the pin shaft E and the pin shaft B respectively under the traction of the steel cable, the steel cable is externally arranged on the outer surface of the supporting rod, the wrist part drives the finger A and the finger B to do corresponding rotary motion, and the finger A and the finger B rotate to clamp and open the surgical forceps; compared with the prior art, the invention adopts a novel solid support rod structure and a novel steel cable external structure, and solves the problems of difficulty increase and cost increase of sterilization and disinfection of the operating forceps caused by the hollow support tube and the built-in steel cable.

Description

Minimally invasive surgical forceps with external transmission steel cable

[ technical field ]

The invention relates to the field of medical instruments, in particular to a minimally invasive surgical forceps with an external transmission steel cable for a laparoscopic surgical robot.

[ background art ]

The laparoscopic minimally invasive surgery robot has the characteristics of small body surface wound, small amount of bleeding, low postoperative infection risk, quick recovery and the like of the traditional minimally invasive surgery, has unique functions of consistency of master and slave hands and eyes, physiological shaking and filtering and the like, and is more and more accepted by the market. In addition to a master-slave laparoscopic surgical robot that has entered operating rooms of various hospitals worldwide, in recent years, there are many scientific research institutes and medical instrument developers at home and abroad developing similar minimally invasive surgical robots.

Currently, such laparoscopic surgical robots all employ multi-joint robotic arms to operate specialized end surgical instruments. Typically, the end instrument is comprised of a drive base, a support tube, and an executable portion. Wherein the support tube is a hollow tube connecting the drive base and the executable portion. These end instruments can be classified into forceps, scissors, and energy-type surgical instruments according to the function of the executable portion.

The minimally invasive surgical forceps are frequently used, have four degrees of freedom of motion, and are respectively the rotation of the self-transmission of the supporting tube, the rotation of the wrist of the executable part and the rotation of two fingers of the executable part. To meet the small surgical incision requirements, three degrees of freedom of the executable portion are driven using a wire rope. The steel cable is arranged in the supporting tube, one end of the steel cable is fixed on the executable part, and the other end of the steel cable is fixed in the driving base. The hollow structure of the supporting tube and the built-in structure of the steel cable cause the problems of difficulty in sterilization and cost increase of the surgical forceps. In addition, this configuration also makes it difficult to reduce the outer diameter of the support tube again — currently the outer diameter of the support tube for end instruments is typically 8 mm.

If a novel minimally invasive surgical forceps with an external transmission steel cable can be provided, the problems of high difficulty and high cost of sterilization and disinfection of terminal instruments of the existing laparoscopic surgery robot are solved, and the minimally invasive surgical forceps have a positive effect on popularization of robot minimally invasive surgery.

[ summary of the invention ]

The invention aims to solve the defects and provide the minimally invasive surgical forceps with the external transmission steel cable.

In order to achieve the purpose, the minimally invasive surgical forceps with the externally arranged transmission steel cable comprises a base 9, a support rod 16 and a tail end assembly 12, wherein the support rod 16 is of a solid structure, one end of the support rod 16 is connected with the base 9, the other end of the support rod 16 is connected with the tail end assembly 12, the tail end assembly 12 comprises a wrist 13, a finger A14 and a finger B15, the wrist 13 of the tail end assembly 12 is rotatably connected to the support rod 16 through a pin E40, the finger A14 and the finger B15 are rotatably connected to the other end of the wrist 13 through a pin B29, the wrist 13, the finger A14 and the finger B15 respectively rotate around the pin E40 and the pin B29 under the traction of the steel cable, the steel cable is externally arranged on the outer surface of the support rod 16, the wrist 13 drives the finger A14 and the finger B15 to do corresponding rotary motion, and the clamping and opening of the surgical forceps are achieved after the finger A14 and the finger B15 rotate, solves the problems of high difficulty and high cost of the sterilization and disinfection of the end instruments of the existing laparoscopic surgery robot.

Further, the outer surface of the support rod 16 is provided with a groove a 57, a groove B58, a groove C59, a groove D60, a groove E61 and a groove F62 extending along the axial direction, the groove a 57 and the groove D60 are arranged in pair, the steel cable a 20 passes through the groove, the groove B58 and the groove E61 are arranged in pair, the steel cable C24 passes through the groove, the groove C59 and the groove F62 are arranged in pair, the steel cable B21 passes through the groove B21, the steel cable B21 pulls the wrist portion 13 to rotate around the rotating shaft C23, the steel cable a 20 pulls the finger a 14 to rotate around the rotating shaft a 19, and the steel cable C24 pulls the finger B15 to rotate around the rotating shaft a 19.

Further, a wire winding wheel A25 and a wire winding wheel B30 are arranged between the finger A14 and the finger B15, and the wire winding wheel A25 and the wire winding wheel B30 are both arranged on a pin shaft B29 in a penetrating manner; the finger A14 and the finger B15 are provided with protrusions A46, the wire winding wheel B30 and the wire winding wheel A25 are provided with open grooves A47, the protrusions A46 are inserted into the open grooves A47, the wire winding wheel B30 and the wire winding wheel A25 are respectively wound with a steel cable A20 and a steel cable C24, the steel cable A20 and the steel cable C24 are embedded into a space formed by the protrusions A46 and the open grooves A47 in a bending mode, and the protrusions A46 and the open grooves A47 extrude the steel cable A20 and the steel cable C24 mutually.

Further, the steel cable a 20 is divided into a left side 51 and a right side 49 by a bend, the left side 49 of the steel cable a passes through the winding wheel B30 and then enters the groove D60 on the outer surface of the support rod 16 after passing through the pulley F35, the pulley L44 and the pulley J42, and the left side 51 of the steel cable a passes through the winding wheel B30 and then enters the groove a 57 on the outer surface of the support rod 16 after passing through the pulley B27, the pulley C32 and the pulley J42.

Furthermore, the steel cable C24 is divided into a bending part and left and right sides thereof are respectively a left side 50 of the steel cable C and a right side 48 of the steel cable C, the right side 48 of the steel cable C passes through the wire winding wheel a 25 and then enters the groove E61 on the outer surface of the support rod 16 after passing through the pulley E34, the pulley K43 and the pulley I41 in sequence, and the left side 50 of the steel cable C passes through the wire winding wheel a 25 and then enters the groove B58 on the outer surface of the support rod 16 after passing through the pulley a 26, the pulley D33 and the pulley H38 in sequence.

Further, a wire winding wheel C39 penetrates through the pin E40, an open slot B55 is formed in the wire winding wheel C39, a protrusion B54 is arranged on the wrist 13, the protrusion B54 is inserted into the open slot B55, a steel cable B21 is wound on the wire winding wheel C39, the steel cable B21 is embedded into a space formed by the protrusion B54 on the wrist 13 and the open slot B55 on the wire winding wheel C39 through bending, and the protrusion B54 and the open slot B55 mutually extrude the steel cable C24.

Further, the steel cable B21 is divided into a bend, the left and right sides of the steel cable B are respectively a left side 52 of the steel cable B and a right side 56 of the steel cable B, the right side 56 of the steel cable B passes through the wire winding wheel C39 and then enters the groove F62 on the outer surface of the support rod 16, and the left side 52 of the steel cable B passes through the wire winding wheel C39 and then enters the groove C59 on the outer surface of the support rod 16.

Furthermore, a driving disk a 10, a driving disk B11, a driving disk C17 and a driving disk D18 are mounted on the base 9, the supporting rod 16 is connected to the base 9 in a self-rotating manner around a rotating shaft B22 and is driven by the driving disk a 10 to rotate, the driving disk B11, the driving disk C17 and the driving disk D18 are respectively connected to the wrist 13, the finger a 14 and the finger B15 through a steel cable and drive the steel cable to perform a pulling motion, and the driving disk a 10, the driving disk B11, the driving disk C17 and the driving disk D18 respectively control the rotation of the supporting rod 16, the wrist 13, the finger a 14 and the finger B15 through a mechanical transmission mechanism in the base 9.

Furthermore, the surgical forceps are arranged at the tail end of the mechanical arm, the mechanical arm is connected to the control cabinet and electrically connected with the controller in the control cabinet, and the position and the posture of the surgical forceps are completed by controlling the mechanical arm to move through the controller in the control cabinet.

Further, the support rod 16 is made of hard metal material or surface hardened.

Compared with the prior art, the invention has the following advantages:

(1) the minimally invasive surgical forceps adopt a novel solid supporting rod structure and a novel steel cable external structure, and can effectively solve the problem of high difficulty in sterilization and disinfection caused by the built-in steel cable;

(2) the invention can further reduce the outer diameter of the supporting rod of the operating forceps and can reduce the operation wound;

(3) compared with the steel cable with the diameter of 0.5mm which is mostly selected at present, the steel cable distribution mode can allow the steel cable with larger diameter to be adopted for driving, thereby improving the tensile strength of the steel cable and prolonging the service life of the surgical forceps;

(4) the invention solves the problems of high difficulty and high cost of the sterilization and disinfection of the terminal instruments of the existing laparoscopic surgery robot;

(5) based on the analysis, the minimally invasive surgery clamp with the external steel cable has practical application value and has positive effect on popularization of robot minimally invasive surgery.

[ description of the drawings ]

FIG. 1 is a schematic diagram of an application structure of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic perspective view of the present invention at the tip assembly;

FIG. 4 is a schematic illustration of an explosion at the tip assembly of the present invention;

FIG. 5 is an exploded view of the cable attachment structure of the fingers of the forceps of the present invention;

FIG. 6 is a cross-sectional view of the wrist cable fixing structure of the surgical forceps of the present invention;

FIG. 7 is a cross-sectional view of a surgical clamp support post and an external cable in accordance with the present invention;

FIG. 8 is a schematic view of the mechanical drive mechanism within the base of the present invention;

in the figure: 1. an operating table 2, a patient 3, a control cabinet A4, a mechanical arm A5, an operating forceps A6, an operating forceps B7, a mechanical arm B8, a control cabinet B9, a base 10, a driving disk A11, a driving disk B12, a terminal component 13, a wrist 14, a finger A15, a finger B16, a support rod 17, a driving disk C18, a driving disk D19, a rotating shaft A20, a steel cable A21, a steel cable B22, a rotating shaft B23, a rotating shaft C24, a steel cable C25, a wire winding wheel A26, a pulley A27, a pulley B28, a pin shaft A29, a pin shaft B30, a wire winding wheel B31, a pin shaft C32, a pulley C33, a pulley D34, a pulley E35, a pulley F36, a pin shaft D37, a pulley G38, a pulley H39, a wire winding wheel C40, a pin shaft E41, a pulley I42, a connecting rod B32, a connecting rod B23, a connecting rod B24, a connecting rod B connecting rod C and a rod C28, Pulley J43, pulley K44, pulley L45, pin shaft F46, protrusion a 47, open slot a 48, cable C right side 49, cable a right side 50, cable C left side 51, cable a left side 52, cable B left side 53, cable B fixed section 54, protrusion B55, open slot B56, cable B right side 57, groove a 58, groove B59, groove C60, groove D61, groove E62, groove F63, support plate a 64, drive plate shaft a 65, lock pin a 66, support plate B67, lock pin B.

[ detailed description of the invention ]

The invention is further described below with reference to the accompanying drawings:

taking the robot minimally invasive surgery in the attached drawing 1 as an example, an operating forceps A5 and an operating forceps B6 are respectively arranged at the tail ends of a mechanical arm A4 and a mechanical arm B7; the positions and postures of the surgical forceps A5 and the surgical forceps B6 control the actions of a mechanical arm A4 and a mechanical arm B7 through controllers in a control cabinet A3 and a control cabinet B8; the operation forceps A5 and the operation forceps B6 work in a coordinated way, and the laparoscopic operation can be completed.

In order to achieve the purpose, the invention provides a minimally invasive surgical forceps with an external transmission steel cable, which mainly comprises a base 9, a support rod 16 and a tail end component 12, wherein the support rod 16 is of a solid structure and can be made of hard metal materials or subjected to surface hard treatment; one end of a supporting rod 16 is connected with a base 9, the other end of the supporting rod 16 is connected with a terminal component 12, the terminal component 12 comprises a wrist part 13, a finger A14 and a finger B15, the wrist part 13 of the terminal component 12 is rotatably connected to the supporting rod 16 through a pin E40, the finger A14 and the finger B15 are rotatably connected to the other end of the wrist part 13 through a pin B29, the wrist part 13, the finger A14 and the finger B15 respectively rotate around the pin E40 and the pin B29 under the traction of a steel cable, the steel cable is externally arranged on the outer surface of the supporting rod 16, the wrist part 13 rotates to drive the finger A14 and the finger B15 to do corresponding rotary motion, and the clamping and the opening of the surgical forceps are realized after the finger A14 and the finger B15 rotate; the surgical forceps has four freedom degrees of movement, namely rotation of the support rod 16 around a rotating shaft B22, rotation of the wrist 13 around a rotating shaft C23, and rotation of the finger A14 and the finger B15 around a rotating shaft A19; the minimally invasive surgery forceps adopt a novel solid supporting rod structure and a steel cable external mode, and solve the problems of high difficulty and high cost of sterilization and disinfection of the terminal instruments of the existing laparoscopic surgery robot.

The outer surface of the support rod 16 is provided with a groove A57, a groove B58, a groove C59, a groove D60, a groove E61 and a groove F62 which extend along the axial direction, the six grooves are formed in pairs in the arrangement mode, the groove A57 and the groove D60 are in a pair, the groove B58 and the groove E61 are in a pair, the groove C59 and the groove F62 are in a pair, and the paired grooves are used for passing through the same steel cable; the cross section of the groove can be circular or other shapes, and the size of the cross section of the groove is slightly larger than the outer diameter of the steel cable. Specifically, groove a 57 is paired with groove D60 and is fed with cable a 20, groove B58 is paired with groove E61 and is fed with cable C24, groove C59 is paired with groove F62 and is fed with cable B21, cable B21 pulls wrist 13 to rotate about rotation axis C23, cable a 20 pulls finger a 14 to rotate about rotation axis a 19, and cable C24 pulls finger B15 to rotate about rotation axis a 19.

The base 9 is provided with a driving disk A10, a driving disk B11, a driving disk C17 and a driving disk D18, the supporting rod 16 is connected to the base 9 in a self-rotating manner around a rotating shaft B22 and rotates under the driving of the driving disk A10, the driving disk B11, the driving disk C17 and the driving disk D18 are respectively connected with the wrist 13, the finger A14 and the finger B15 through steel cables and drive the steel cables to do traction movement, and the driving disk A10, the driving disk B11, the driving disk C17 and the driving disk D18 respectively control the rotation of the supporting rod 16, the wrist 13, the finger A14 and the finger B15 through a mechanical transmission mechanism in the base 9. As shown in fig. 8, taking the driving disc C17 as an example, the driving disc C17 is fixedly connected with the driving disc shaft a 64, and the driving disc shaft a 64 is installed on the supporting plate a 63 and the supporting plate B66; the left side 51 of the cable A is fixed on the driving disc shaft A64 through a locking screw A65, and the right side 49 of the cable A is fixed on the driving disc shaft A64 through the same method (not shown in the figure 8); the drive plate shaft A64 rotates to move the left side 51 of cable A and the right side 49 of cable A, which in turn drives the finger A14. The wrist portion 13 is pulled by the steel cable B21 to rotate around a rotating shaft C23; the finger A14 rotates around a rotating shaft A19 by means of the traction of a steel cable A20; the finger B15 is rotated about the rotation axis a 19 by pulling the wire C24.

The tail end component 12 mainly comprises a wrist part 13, a finger A14 and a finger B15, the tail end component 12 is connected on the supporting rod 16 through a pin E40, and the wrist part 13 is respectively connected with the finger A14 and the finger B15 through a pin B29; end assembly 12 also includes a wire winding wheel a 25, a pulley a 26, a pulley B27, a pin a 28, a wire winding wheel B30, a pin C31, a pulley C32, a pulley D33, a pulley E34, a pulley F35, a pin D36, a pulley G37, a pulley H38, a wire winding wheel C39, a pulley I41, a pulley J42, a pulley K43, a pulley L44, and a pin F45.

A wire winding wheel A25 and a wire winding wheel B30 are arranged between the finger A14 and the finger B15, and the wire winding wheel A25 and the wire winding wheel B30 are both arranged on a pin shaft B29 in a penetrating way; the finger A14 and the finger B15 are both provided with a bulge A46, the wire winding wheel B30 and the wire winding wheel A25 are both provided with an open slot A47, the bulge A46 is inserted into the open slot A47, and the wire winding wheel B30 and the wire winding wheel A25 are respectively wound with a steel cable A20 and a steel cable C24; the steel cable A20 is embedded in a narrow space formed by the protrusion A46 on the finger A14 and the open slot A47 on the wire winding wheel B30 together through bending, and the protrusion A46 and the open slot A47 mutually press the steel cable A20, so that the steel cable A20 does not slide relative to the wire winding wheel B30 in the drawing process; similarly, the cable C24 is embedded in the narrow space formed by the protrusion a 46 of the finger B15 and the opening groove a 47 of the winding wheel a 25 by bending, and the protrusion a 46 and the opening groove a 47 press the cable C24 against each other, so that the cable C24 is bent and does not slide relative to the winding wheel a 25 during drawing.

The steel cable A20 takes the bending part as a boundary, the left side and the right side of the steel cable A are respectively the left side 51 and the right side 49 of the steel cable A, and the right side 49 of the steel cable A passes through the wire winding wheel B30, then passes through the pulley F35, the pulley L44 and the pulley J42 in sequence, and finally enters the groove D60 on the outer surface of the support rod 16; the left side 51 of the cable A passes through the winding wheel B30, then passes through the pulley B27, the pulley C32 and the pulley J42, and finally enters the groove A57 on the outer surface of the support rod 16.

Similarly, the steel cable C24 is divided by a bend, the left side and the right side of the steel cable C are respectively a left side 50 and a right side 48 of the steel cable C, and the right side 48 of the steel cable C passes through the wire winding wheel a 25, then passes through the pulley E34, the pulley K43 and the pulley I41 in sequence, and finally enters the groove E61 on the outer surface of the support rod 16; the left side 50 of the cable C passes through the wire winding wheel A25, then passes through the pulley A26, the pulley D33 and the pulley H38 in turn, and finally enters the groove B58 on the outer surface of the support rod 16.

A wire winding wheel C39 penetrates through the pin shaft E40, an open slot B55 is formed in the wire winding wheel C39, a protrusion B54 is arranged on the wrist portion 13, the protrusion B54 is inserted into the open slot B55, a steel cable B21 is wound on the wire winding wheel C39, the steel cable B21 is embedded into a narrow space formed by the protrusion B54 on the wrist portion 13 and the open slot B55 on the wire winding wheel C39 together through bending, the protrusion B54 and the open slot B55 mutually extrude the steel cable C24, and therefore the steel cable B21 cannot slide relative to the wire winding wheel C39 in the drawing process.

The steel cable B21 takes the bending part as a boundary, the left side and the right side of the steel cable B are respectively a left side 52 and a right side 56 of the steel cable B, and the right side 56 of the steel cable B enters a groove F62 on the outer surface of the support rod 16 after passing through the wire winding wheel C39; the left side 52 of the cable B passes through the wire winding wheel C39 and enters a groove C59 in the outer surface of the support bar 16.

The minimally invasive surgical forceps with the external transmission steel cable provided by the invention adopts a solid support rod structure and a steel cable external mode, so that the problem that the steel cable cannot be effectively sterilized is avoided, meanwhile, the diameter of the support rod can be reduced to be less than 6mm, and the minimally invasive surgical forceps have a positive effect on popularization of robot minimally invasive surgery.

The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and fall within the protection scope of the present invention.

Claims

1. A minimally invasive surgical forceps with an external transmission steel cable is characterized in that: the device comprises a base (9), a supporting rod (16) and a tail end assembly (12), wherein the supporting rod (16) is of a solid structure, one end of the supporting rod (16) is connected with the base (9), the other end of the supporting rod (16) is connected with the tail end assembly (12), the tail end assembly (12) comprises a wrist part (13), a finger A (14) and a finger B (15), the wrist part (13) of the tail end assembly (12) is rotatably connected onto the supporting rod (16) through a pin shaft E (40), the finger A (14) and the finger B (15) are rotatably connected onto the other end of the wrist part (13) through a pin shaft B (29), the wrist part (13), the finger A (14) and the finger B (15) respectively rotate around the pin shaft E (40) and the pin shaft B (29) under the traction of a steel cable, the steel cable is externally arranged on the outer surface of the supporting rod (16), and the wrist part (13) drives the finger A (14) and the finger B (15) to do corresponding rotary motion after rotating, the fingers A (14) and B (15) rotate to realize the clamping and the opening of the surgical forceps.

2. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 1, characterized in that: the utility model discloses a bracing piece, including bracing piece (16), bracing piece, recess A (57), recess B (58), recess C (59), recess D (60), recess E (61) and recess F (62) that follow axial extension, recess A (57) and recess D (60) set up in pairs and the inslot passes through cable wire A (20), recess B (58) and recess E (61) set up in pairs and the inslot passes through cable wire C (24), recess C (59) and recess F (62) set up in pairs and the inslot passes through cable wire B (21), cable wire B (21) tractive wrist portion (13) are rotatory around rotation axis C (23), cable wire A (20) tractive indicates that A (14) are rotatory around rotation axis A (19), cable wire C (24) tractive indicates that B (15) are rotatory around rotation axis A (19).

3. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 2, characterized in that: a wire winding wheel A (25) and a wire winding wheel B (30) are arranged between the finger A (14) and the finger B (15), and the wire winding wheel A (25) and the wire winding wheel B (30) are arranged on a pin shaft B (29) in a penetrating manner; indicate A (14), indicate all to be provided with protruding A (46) on B (15), all be provided with open slot A (47) on wire winding wheel B (30), wire winding wheel A (25), protruding A (46) inserts in open slot A (47), it has cable wire A (20), cable wire C (24) to twine respectively on wire winding wheel B (30), wire winding wheel A (25), cable wire C (24), cable wire A (20), cable wire C (24) all inlay in the space of protruding A (46) and open slot A (47) common structure through the bending, and protruding A (46) and open slot A (47) extrude cable wire A (20) and cable wire C (24) each other.

4. The minimally invasive surgical forceps with the external transmission steel cable as claimed in claim 3, characterized in that: the steel cable A (20) is divided by a bending part, the left side and the right side of the steel cable A are respectively a steel cable A left side (51) and a steel cable A right side (49), the steel cable A right side (49) enters a groove D (60) on the outer surface of the support rod (16) after passing through the wire winding wheel B (30) and sequentially passing through the pulley F (35), the pulley L (44) and the pulley J (42), and the steel cable A left side (51) enters a groove A (57) on the outer surface of the support rod (16) after passing through the wire winding wheel B (30) and sequentially passing through the pulley B (27), the pulley C (32) and the pulley J (42).

5. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 3, characterized in that: the steel cable C (24) is divided by a bending part, the left side and the right side of the steel cable C are respectively a steel cable C left side (50) and a steel cable C right side (48), the steel cable C right side (48) enters the groove E (61) on the outer surface of the support rod (16) after passing through the wire winding wheel A (25) and sequentially passing through the pulley E (34), the pulley K (43) and the pulley I (41), and the steel cable C left side (50) enters the groove B (58) on the outer surface of the support rod (16) after passing through the wire winding wheel A (25) and sequentially passing through the pulley A (26), the pulley D (33) and the pulley H (38).

6. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 2, characterized in that: the utility model discloses a wire winding wheel, including round pin axle E (40), wire winding wheel C (39) are worn to be equipped with on round pin axle E (40), be provided with open slot B (55) on wire winding wheel C (39), be provided with arch B (54) on wrist (13), arch B (54) insert in open slot B (55), the winding has cable wire B (21) on wire winding wheel C (39), cable wire B (21) are through crooked embedded in wrist (13) on arch B (54) and wire winding wheel C (39) in open slot B (55) the space of structure jointly, and arch B (54) and open slot B (55) extrude cable wire C (24) each other.

7. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 6, characterized in that: the steel cable B (21) is divided by a bending part, the left side and the right side of the steel cable B are respectively a left side (52) and a right side (56) of the steel cable B, the right side (56) of the steel cable B enters the groove F (62) on the outer surface of the support rod (16) after passing through the wire winding wheel C (39), and the left side (52) of the steel cable B enters the groove C (59) on the outer surface of the support rod (16) after passing through the wire winding wheel C (39).

8. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 1, characterized in that: the automatic rotation type hand-held machine is characterized in that a driving disc A (10), a driving disc B (11), a driving disc C (17) and a driving disc D (18) are installed on the base (9), the supporting rod (16) can be connected to the base (9) in a self-rotating mode around a rotating shaft B (22) and rotates under the driving of the driving disc A (10), the driving disc B (11), the driving disc C (17) and the driving disc D (18) are connected with a wrist (13), a finger A (14) and a finger B (15) through steel cables respectively, the steel cables are driven to do traction motion, and the supporting rod (16), the wrist (13), the finger A (14) and the finger B (15) are controlled to rotate respectively through a mechanical transmission mechanism in the base (9) by the driving disc A (10), the driving disc B (11), the driving disc C (17) and the driving disc D (18).

9. The minimally invasive surgical forceps with the externally arranged transmission steel cable as claimed in claim 1, characterized in that: the surgical forceps are arranged at the tail ends of the mechanical arms, the mechanical arms are connected to the control cabinet and electrically connected with a controller in the control cabinet, and the positions and postures of the surgical forceps are completed by controlling the actions of the mechanical arms through the controller in the control cabinet.

10. The minimally invasive surgical forceps with the external transmission steel cable as claimed in claim 1, characterized in that: the support rod (16) is made of hard metal materials or subjected to surface hard treatment.