CN116549061A

CN116549061A - Minimally invasive surgical forceps

Info

Publication number: CN116549061A
Application number: CN202310728382.9A
Authority: CN
Inventors: 徐欣良宜; 王屹初
Original assignee: Jingqin Zhizao Suzhou Medical Technology Co ltd
Current assignee: Jingqin Zhizao Suzhou Medical Technology Co ltd
Priority date: 2023-06-19
Filing date: 2023-06-19
Publication date: 2023-08-08

Abstract

The invention discloses a minimally invasive surgical clamp, which comprises a shell, a clamp head module, an adjusting handle, a rotating assembly, a joint module and a locking assembly, wherein the clamp head module is arranged at the far end of the minimally invasive surgical clamp. The medical staff can adjust and lock the movement posture of the clamp head module through the adjusting handle; after locking, accessible rotation adjustment handle to drive the rotation subassembly and drive the joint module and rotate, make the joint module transmission binding clip module can rotate around joint module extending direction, make the operation demand that the different circumference angles of flexible regulation binding clip module were satisfied to the wicresoft operation pincers. The minimally invasive surgical forceps provided by the invention are convenient to operate, and the front end forceps head module can still perform autorotation adjustment after being locked, so that the application capacity of the surgical forceps is enhanced, the hand operation fatigue of medical staff is reduced, and the surgical quality is improved.

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 result of a surgeon exploring for the surgical principles of "reduced trauma, reduced pain" and patient requirements for "no pain, no scar, and small wound" of the procedure. Early minimally invasive surgical single-finger laparoscopic surgery has been widely used in various operations with the popularization and development of minimally invasive surgical techniques.

In minimally invasive surgery, minimally invasive surgical forceps are medical instruments that are used by medical personnel to grip and manipulate tissue within the human body. The existing minimally invasive surgical forceps can realize the opening and closing actions of the forceps heads through the operating handles, the forceps heads can be rotated through the transmission mechanism, and the forceps heads can be locked through the locking assembly so as to fix and keep the postures of the forceps heads. The inventors found that: in the related art, the minimally invasive surgical forceps can control the functions of opening, closing, rotating, locking and the like of the forceps heads, but the functions are usually independent operation and cannot be combined operation; after the clamp head is locked by the locking component, the clamp head cannot rotate, so that the operation of the tissue to be treated in the minimally invasive surgery process is inconvenient, the practical application capability is limited, the hand operation fatigue of medical staff is easily caused, and the surgery quality is affected. The existing minimally invasive surgical forceps do not have the capability of flexibly adjusting the movement posture of the forceps head, and are difficult to well adapt to complex surgical operation conditions in minimally invasive surgery.

Disclosure of Invention

The technical problem to be solved by the invention is that in the prior art, after the minimally invasive surgical forceps are normally locked, the forceps heads cannot rotate, so that the operation of tissues to be treated in the minimally invasive surgical process is inconvenient, the practical application capability is limited, the hand operation fatigue of medical staff is easy to cause, and the surgical quality is influenced.

To this end, the invention provides a minimally invasive surgical forceps, comprising a housing and a forceps head module, wherein the forceps head module is configured at the distal end of the minimally invasive surgical forceps, and further comprising:

the adjusting handle is movably connected with the shell;

the rotating assembly is connected with the adjusting end of the adjusting handle and is rotatably arranged in the shell;

the joint module is movably arranged in the shell, the proximal end of the joint module is in transmission connection with the rotating assembly, the distal end of the joint module is fixedly connected with the clamp head module, and the proximal end and the distal end of the joint module are in linkage arrangement;

and the locking component is arranged at the transmission end of the adjusting handle, the proximal end of the joint module and the locking component are configured to rotate, the locking component can lock the proximal end of the joint module to bend radially and the joint module to displace axially, the adjusting handle is provided with a rotating component for driving the proximal end of the joint module to adjust the distal end of the joint module and the clamp head module to rotate around the direction of the extending axis of the joint module under the locking state of the proximal end of the joint module.

Optionally, the locking assembly comprises a locking piece and a locking piece, the locking piece and the adjusting handle are relatively and fixedly arranged, the locking piece can slide to be close to or far away from the locking piece under the driving of the adjusting handle so as to form a locking position and an unlocking position, and the locking piece is arranged in the sliding direction of the locking piece;

the locking element and the proximal end of the joint module are configured for rotational connection; the rotation axis of the proximal end of the joint module is overlapped with the extension axis of the joint module.

Optionally, the rotating assembly comprises a fourth gear and a joint sleeve, the fourth gear is sleeved on the joint sleeve, the locking pieces are arranged in the joint sleeve at intervals, and the central axis direction of the joint sleeve and the extending direction of the joint module are overlapped; a bending deformation space at the proximal end of the joint module is arranged in the joint sleeve;

the joint module is a flexible joint, a plurality of first adapter pieces, first joint units and supporting rods are arranged at the proximal end of the joint module in series, the first adapter pieces and the joint sleeves are relatively fixedly arranged, and the first joint units adjacent to the supporting rods are rotatably connected with the supporting rods;

The locking element is rotatably disposed with the first articulation unit adjacent thereto to permit proximal rotation of the articulation module.

Optionally, the locking element is provided with a mounting cavity, the first joint unit adjacent to the locking element is movably abutted in the mounting cavity, and the mounting cavity and the joint unit are in clearance fit so as to allow external force to adjust circumferential rotation of the joint module along the extending direction of the joint module; and/or

The locking piece is sleeved on the supporting rod; the joint sleeve and the locking member are configured to be spaced apart or rotationally abutted.

Optionally, the locking piece is provided with a hook joint ball, the hook joint ball is provided with an incomplete hollow sphere, and the hook joint ball is sleeved and installed at the proximal end of the joint module; the locking piece is arranged in an annular structure and is movably sleeved on the locking piece; the central axis of the locking piece is overlapped with the spherical center of the Hooke's joint ball.

Optionally, the adjusting handle comprises a rotating end, an assembling sleeve and a connecting shaft, wherein the rotating end is fixedly connected with the assembling sleeve, and the connecting shaft is inserted into one end, far away from the rotating end, of the assembling sleeve; the rotating end is arranged outside the shell, and the connecting shaft is in transmission connection with the rotating assembly;

The rotating assembly comprises a gear set, a supporting bearing set and a rotating shaft;

the gear set comprises a first gear, a second gear and a third gear, wherein the axial center lines of the first gear, the second gear and the third gear are arranged in parallel, the first gear is meshed with the second gear, the third gear is meshed with the fourth gear, the connecting shaft is in transmission connection with the first gear, one end of the rotating shaft is in transmission connection with the second gear, the other end of the rotating shaft is in transmission connection with the third gear, and the joint sleeve is sleeved and fixed on the fourth gear; the support bearing group comprises a first bearing, a second bearing and a third bearing, any bearing is rotatably configured with the rotating shaft, the first bearing and the third bearing are opposite and sleeved at two ends of the extending direction of the rotating shaft, and the second bearing is sleeved at the middle section of the rotating shaft.

Optionally, the adjusting handle further comprises a flexible buckle, a release piece and a connecting piece, wherein the flexible buckle is formed on the assembling sleeve, the flexible buckle is in clamping fit in the shell, the release piece is used for releasing clamping fit between the flexible buckle and the shell, and the release piece is arranged through the rotating end and the assembling sleeve; one end of the connecting piece is fixedly connected with the flexible buckle, the other end of the connecting piece is fixedly connected with the release piece, and the connecting piece and the flexible buckle are correspondingly configured; the assembly sleeve is provided with a deformation space for the flexible buckle and the connecting piece to move towards the inside of the assembly sleeve.

Optionally, the distal end of the joint module is provided with a second adapter, a second joint unit and a third adapter which are arranged in series; the second joint units are provided with a plurality of second joint units, and the third adapter is fixedly connected with the clamp head module;

the joint module comprises a connecting rod and a linkage joint line, one end of the connecting rod is fixedly connected with the supporting rod, the other end of the connecting rod is fixedly connected with the second adapter, and the linkage joint line is arranged in the connecting rod in a penetrating manner; the linkage joint line is provided with two at least, the proximal end of linkage joint line with first adaptor fixed connection, the distal end of linkage joint line with third adaptor fixed connection.

Optionally, the joint module further comprises a limiting piece, the connecting rod is a hollow rod, the limiting piece is rotatably installed in the connecting rod, first limiting cavities are symmetrically distributed on the outer wall surface of the limiting piece in a central mode, the first limiting cavities are suitable for accommodating the linkage joint lines, the first limiting cavities and the linkage joint lines are correspondingly arranged, and the extending direction of the first limiting cavities is the same as that of the connecting rod;

The limiting piece is internally provided with a second limiting cavity in a penetrating mode, and the second limiting cavity is suitable for slidably accommodating a control wire of the opening and closing mechanism.

Optionally, the locking assembly further comprises a locking adapter, one end of the locking adapter is in transmission connection with the adjusting handle, and the other end of the locking adapter is fixedly connected with the locking piece; the locking adapter is arranged on one side of the locking piece away from the locking piece.

Optionally, a positioning groove is formed in the shell, a positioning hole is formed in the locking adapter, the locking piece is located at the locking position, the positioning groove is communicated with the positioning hole and aligned with the positioning hole, and the positioning groove and the positioning hole are suitable for accommodating and connecting at least part of peripheral positioning pieces.

Optionally, the minimally invasive surgical forceps further comprises a fixing sleeve, wherein the fixing sleeve is fixedly connected with the locking piece; the locking adapter is provided with a fixed ring, and at least part of the fixed sleeve is fixedly arranged in the fixed ring; and/or

And the locking adapter is provided with an avoidance cavity, and the avoidance cavity is used for avoiding the rotating assembly.

Optionally, the locking piece and the locking piece are provided with locking matching structures; and in the locking position, the locking matching structure is used for limiting the axial displacement of the joint module along the extending direction of the joint module so as to lock the posture of the clamp head module.

Optionally, the locking mating structure includes a first locking protrusion and a second locking protrusion, one of the first locking protrusion and the second locking protrusion is disposed on the locking member, and the other is disposed on the locking member; any locking protrusion is arranged on the opposite end surfaces of the locking piece and the locking piece; in the locking position, the first locking protrusion and the second locking protrusion are mutually inserted and limited; in the unlocking position, the first locking protrusion and the second locking protrusion are separated from each other to limit; or (b)

The locking matching structure comprises a locking protrusion and a locking groove, wherein one of the locking protrusion and the locking groove is arranged on the locking piece, and the other of the locking protrusion and the locking groove is arranged on the locking piece; the locking protrusion and the locking groove are correspondingly arranged on the opposite end surfaces of the locking piece and the locking piece, and the locking protrusion and the locking groove are correspondingly arranged in a conformal manner; in the locking position, the locking protrusion and the locking groove are embedded and limited; and in the unlocking position, the locking protrusion and the locking groove are separated from each other to limit.

Optionally, any locking protrusion is any one of a truncated cone structure, a sliding plate body structure or a spiral line structure, and adjacent locking protrusions are arranged at intervals on the locking piece and/or the locking piece so as to form a locking matching space.

Optionally, the minimally invasive surgical forceps further comprises an opening and closing mechanism, the opening and closing mechanism comprises an opening and closing handle and at least one control wire, the opening and closing handle is movably connected with the shell, one end of the control wire is in transmission connection with the opening and closing handle, the other end of the control wire is fixedly connected with the forceps head module, the control wire is slidably arranged in the joint module in a penetrating mode, and the opening and closing handle is used for collecting and releasing the control wire to drive the forceps head module to be clamped in a closing mode or to be opened to release tissue to be treated.

The opening and closing handle is provided with a holding end and a first connecting end, the first connecting end is rotationally connected with the shell, the opening and closing handle can rotate around the first connecting end and the rotating center of the shell, and in the rotating stroke of the opening and closing handle, at least part of the holding end is exposed and arranged outside the shell.

Optionally, the minimally invasive surgical forceps further comprises a connecting rod assembly and a connecting component, wherein the connecting rod assembly is arranged between the opening and closing handle and the connecting component, the connecting component is connected with the control wire in a transmission manner, and the connecting rod assembly is used for driving the connecting component to slide and retract the control wire in the rotating stroke of the opening and closing handle.

Optionally, a second connecting end is arranged on the opening and closing handle, and the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod is rotationally connected with the second connecting end, the other end of the first connecting rod is rotationally connected with one end of the second connecting rod, the second connecting rod is fixedly connected with the third connecting rod, and the opening and closing handle drives the first connecting rod to drive the second connecting rod and the third connecting rod to synchronously slide in parallel with the extending direction of the joint module;

a guide structure is provided in the housing and adapted to guide the movement of the linkage assembly.

Optionally, the engagement assembly comprises an engagement block, a drive tooth condition, an engagement seat, an engagement shaft, and a drive gear member;

the connecting block is detachably connected with the transmission end of the connecting rod assembly, the transmission gear condition and the connecting block are configured to be rotationally connected, the transmission gear member is rotationally configured on the connecting seat through the connecting shaft, the connecting seat is fixedly connected with the joint module, the transmission gear member is fixedly connected with the proximal end of the control wire, and when the opening and closing handle drives the connecting assembly to slide, the transmission gear condition and the transmission gear member are meshed for transmission, so that the transmission gear member is wound and unwound on the control wire.

Optionally, the transmission rack spare includes connection tooth piece and turning block, the transmission gear spare includes connection annular and gear piece, connection tooth piece with the gear piece meshing is connected, the turning block with the linking piece rotates and links to each other, connection annular with the corresponding configuration of control line, connection annular is used for convoluteing the control line.

Optionally, the opening and closing handle is provided with an accommodating groove, and the accommodating groove is suitable for accommodating the reset spring; the shell is provided with a stop piece, the stop piece is suitable for being abutted against the reset spring, and the stop piece is correspondingly configured towards the accommodating groove along with the rotating stroke of the opening and closing handle.

Optionally, the binding clip module includes pincers body, at least one binding clip and connecting pin, the connecting pin wear to establish install in pincers body is internal, the binding clip passes through the connecting pin with pincers body rotates and links to each other, the binding clip with the control line corresponds the configuration.

Optionally, a sliding space of a locking member in the locking assembly is provided on the housing, so that the locking member can move to a locking position and an unlocking position relative to the joint module; and/or

The shell is provided with a supporting structure, and the supporting structure and the rotating assembly are arranged in a rotating mode.

The technical scheme provided by the invention has the following advantages:

1. the invention provides a minimally invasive surgical clamp, which comprises a shell, a clamp head module, an adjusting handle, a rotating assembly, a joint module and a locking assembly, wherein the clamp head module is arranged at the far end of the minimally invasive surgical clamp; the rotating component is connected with the adjusting end of the adjusting handle and is rotatably arranged in the shell; the joint module is movably arranged in the shell, the proximal end of the joint module is in transmission connection with the rotating assembly, the distal end of the joint module is fixedly connected with the clamp head module, and the proximal end and the distal end of the joint module are in linkage arrangement; the locking component is arranged at the transmission end of the adjusting handle, the proximal end of the joint module and the locking component are configured to rotate, the locking component can lock the proximal end of the joint module to be radially bent and the joint module to axially displace, and the adjusting handle is provided with a driving rotating component to drive the proximal end of the joint module to adjust the distal end of the joint module and the clamp head module to rotate around the extending axis direction of the joint module.

The minimally invasive surgical forceps with the structure can adjust and lock the movement posture of the forceps head module by a medical staff through the adjusting handle; the handle is adjusted to drive the locking component to lock the radial bending of the proximal end of the joint module and the axial displacement of the joint module, so that the movement posture of the clamp head module after adjustment is locked, and the stability of the clamp head module during clamping work can be improved; after locking, the adjusting handle can be rotated to drive the rotating assembly to drive the joint module to rotate, so that the joint module drives the forceps head module to rotate around the extending direction of the joint module, and the minimally invasive forceps can meet the operation requirements of flexibly adjusting different circumferential angles of the forceps head module; the joint module is used for driving the pitching, the swaying and the autorotation of the clamp head module to adjust the gesture; the minimally invasive surgical forceps provided by the invention are convenient to operate, and the front end forceps head module can still perform autorotation adjustment after being locked, so that the application capacity of the surgical forceps is enhanced, the hand operation fatigue of medical staff is reduced, and the surgical quality is improved.

2. The locking assembly comprises a locking piece and a locking piece, wherein the locking piece and an adjusting handle are relatively and fixedly arranged, the locking piece can slide to be close to or far away from the locking piece under the driving of the adjusting handle so as to form a locking position and an unlocking position, and the locking piece is arranged in the sliding direction of the locking piece; the locking element and the proximal end of the joint module are configured for rotational connection; the rotation axis of the proximal end of the joint module is overlapped with the extension axis of the joint module.

The minimally invasive surgical forceps with the structure drive the locking piece to slide towards the locking piece by the adjusting handle, so that the locking piece is contacted with the locking piece to form a locking position, and the joint module is locked and positioned by the locking piece, so that the forceps head module at the far end of the joint module keeps an adjusted movement posture, the locking assembly locks the radial bending of the near end of the joint module and the axial displacement of the joint module, and the aim of stable clamping of the forceps head module can be achieved; correspondingly, when the locking piece is driven to slide away from the locking piece through the adjusting handle, the locking piece and the locking piece are separated to form an unlocking position, so that the movement posture of the clamp head module is adjusted through the adjusting handle or external force; the locking and unlocking processes are convenient and quick to adjust, and the movement posture of the clamp head module is convenient to adjust quickly; meanwhile, the locking piece and the proximal end of the joint module are configured to be rotationally connected, and the use requirement of the clamp head module for autorotation can be met when the locking piece is in the unlocking position or the locking position.

3. The minimally invasive surgical forceps provided by the invention have the advantages that the locking piece is provided with the Hooke's joint ball, the Hooke's joint ball is provided with an incomplete hollow sphere, and the Hooke's joint ball is sleeved and installed at the proximal end of the joint module; the locking piece is arranged in an annular structure and is movably sleeved on the locking piece; the central axis of the locking piece is overlapped with the center of the hook ball.

The minimally invasive surgical forceps with the structure are characterized in that the locking piece is arranged as the hook hinge ball, and the locking piece is arranged as the annular structure sleeved on the locking piece, so that a larger contact locking area is formed between the locking piece and the locking piece, and the locking stability of connection is enhanced; the central axis of the locking piece is overlapped with the spherical center of the hook ball, so that the connection precision of the annular locking is improved, and the stability of the clamp head module during locking is enhanced.

4. The locking piece is provided with the mounting cavity, the first joint unit adjacent to the locking piece is movably abutted in the mounting cavity, and the mounting cavity is in clearance fit with the joint unit so as to allow external force to adjust the circumferential rotation of the joint module along the extending direction of the joint module.

The minimally invasive surgical forceps with the structure are in clearance fit with the first joint units adjacent to the locking piece through the mounting cavity, so that the locking piece and the locking piece can still adjust circumferential rotation of the proximal end of the joint module through the shell of the minimally invasive surgical forceps after being in the locking position, circumferential rotation of the forceps head module at the distal end of the joint module is correspondingly adjusted, application capacity of the minimally invasive surgical forceps is improved, and use requirements of autorotation after locking of the forceps head module are met.

5. The minimally invasive surgical forceps provided by the invention are characterized in that the shell is provided with the positioning groove, the locking adapter is provided with the positioning hole, the locking piece is positioned at the locking position, the positioning groove and the positioning hole are communicated and aligned, and the positioning groove and the positioning hole are suitable for accommodating and connecting at least part of peripheral positioning pieces.

When the locking piece and the locking piece are connected to be in the locking position, the locating piece is inserted into the locating groove and the locating hole through the outer locating piece, so that the locking piece and the locking piece are fixed and locked relatively, the movement postures of the joint module and the clamp head module are kept, the use difficulty is reduced, the use convenience is improved, medical staff can be prevented from continuously operating the adjusting handle to fix the locking piece and the locking piece through hands, arm fatigue is caused, and the quality of an operation is affected.

6. The invention provides a minimally invasive surgical clamp, which comprises an adjusting handle, a flexible buckle, a releasing piece and a connecting piece, wherein the flexible buckle is formed on an assembling sleeve, the flexible buckle is in clamping fit in a shell, the releasing piece is used for releasing the clamping fit between the flexible buckle and the shell, and the releasing piece is arranged on a rotating end and the assembling sleeve in a penetrating way; one end of the connecting piece is fixedly connected with the flexible buckle, the other end of the connecting piece is fixedly connected with the release piece, and the connecting piece and the flexible buckle are correspondingly configured; the assembly is provided with a deformation space for the flexible buckle and the connecting piece to move towards the inside of the assembly.

The minimally invasive surgical forceps with the structure are assembled by clamping the adjusting handle and the shell through the flexible buckle, and one end of the adjusting handle with the flexible buckle is pressed into the shell; when the adjusting handle is required to be disassembled, the release piece is utilized to release the clamping fit between the flexible buckle and the shell, and the release piece drives the connecting piece and the flexible buckle to enable the flexible buckle to move towards the deformation space in the assembly kit, so that the outer wall surface of the flexible buckle is separated from the clamping fit with the shell; the adjusting handle and the shell are convenient to assemble and disassemble.

7. The minimally invasive surgical forceps further comprise an opening and closing mechanism, the opening and closing mechanism comprises an opening and closing handle and at least one control wire, the opening and closing handle is movably connected with the shell, one end of the control wire is in transmission connection with the opening and closing handle, the other end of the control wire is fixedly connected with the forceps head module, the control wire is arranged in the joint module in a sliding mode, and the opening and closing handle is used for collecting and releasing the control wire to drive the forceps head module to be closed, clamped or opened to release tissue to be treated.

The minimally invasive surgical forceps with the structure are characterized in that the control wire is pulled by operating the opening and closing handle, so that the control wire drives the forceps heads correspondingly configured, and the control wire is arranged in the joint module in a sliding manner, so that the transmission process is smooth; the minimally invasive surgical forceps drive the control wire through the opening and closing mechanism to drive the forceps head module to carry out closed clamping or open and release the tissue to be treated, and the opening and closing clamping process is convenient and rapid to adjust.

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 view of a minimally invasive surgical forceps provided in an embodiment of the invention;

FIG. 2 is a schematic view of a partial structure of a minimally invasive surgical forceps provided in an embodiment of the invention;

FIG. 3 is a schematic view of the structure of the locking assembly and the rotating assembly in the minimally invasive surgical forceps provided in the embodiment of the invention;

FIG. 4 is a schematic view of a partial structure of a locking assembly and a rotating assembly in a minimally invasive surgical clamp provided in an embodiment of the invention;

FIG. 5 is a schematic view of the connection of the proximal ends of the joint modules in the minimally invasive forceps according to the embodiments of the invention;

FIG. 6 is a schematic cross-sectional view of a proximal end of a joint module in a minimally invasive surgical clamp according to an embodiment of the present invention;

FIG. 7 is a schematic view of the proximal end of a joint module in a minimally invasive surgical clamp according to an embodiment of the present invention;

Fig. 8 is a schematic structural view of a limiting member in a minimally invasive surgical forceps according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a locking assembly in a minimally invasive surgical clamp provided in an embodiment of the invention;

FIG. 10 is a schematic view of the structure of a locking element in a minimally invasive surgical clamp according to an embodiment of the present invention;

FIG. 11 is a schematic view of the structure of an opening and closing handle in a minimally invasive surgical forceps according to an embodiment of the invention;

FIG. 12 is a schematic view of a part of an opening and closing mechanism in a minimally invasive surgical forceps according to an embodiment of the invention;

FIG. 13 is a schematic view of a partial connection of a link assembly and a link assembly in a minimally invasive surgical clamp provided in an embodiment of the invention;

FIG. 14 is a schematic view of a portion of an engagement assembly of a minimally invasive surgical clamp according to an embodiment of the present invention;

FIG. 15 is a schematic view of the connection of the transmission gear member in the minimally invasive surgical forceps provided in an embodiment of the invention;

FIG. 16 is a schematic view of the distal end of the joint module and the head module of the minimally invasive surgical forceps according to the embodiment of the invention;

FIG. 17 is a schematic view of the structure of an adjustment handle in a minimally invasive surgical clamp provided in an embodiment of the invention;

FIG. 18 is a schematic cross-sectional view of an adjustment handle in a minimally invasive surgical clamp provided in an embodiment of the invention;

FIG. 19 is a schematic view of the locking element in the minimally invasive surgical forceps according to the embodiment of the invention;

reference numerals illustrate:

1-a housing; 11-a stopper; 12-a rotating groove; 13-a support structure;

2-an opening and closing mechanism;

21-an opening and closing handle; 211-a gripping end; 212-a first connection; 213-a second connection; 214-a receiving groove;

22-a connecting rod assembly; 221-a first link; 222-a second link; 223-a third link;

a 23-adapter assembly; 231-a joint block; 232-gear condition; 2321-connecting tooth blocks; 2322-turning blocks; 233-an adaptor; 234-engagement shaft; 235-a drive gear member; 2351-connecting ring grooves; 2352-gear block; 236-a support;

24-control lines;

25-a clamp head module; 251-clamp body; 252-first binding clip; 253-second binding clip; 254-connecting pins;

3-an attitude adjustment mechanism;

31-an adjusting handle; 311—a rotating end; 312-assembling the group; 313-flexible catch; 314-connecting shaft; 315-release; 316-coupling;

32-a rotating assembly; 321-a first gear; 322-a second gear; 323-a rotation shaft; 324-third gear; 325-fourth gear; 326-joint sleeve; 327—a first bearing; 328-second bearing; 329-a third bearing;

33-joint module; 331-first transition piece; 332-a first articulation unit; 333-supporting the rod; 334-coupling rod; 335-a second adapter; 336-a second articulation unit; 337-a third adapter; 338-limiting pieces; 3381—a first spacing cavity; 3382-a second spacing cavity;

34-a locking assembly; 341-locking the adapter; 3411-fitting holes; 3412-positioning holes; 3413-a securing ring; 3414—an avoidance lumen; 342-fixing sleeve; 343-a locking member; 344-locking element; 3441-mounting cavity.

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 "connected," "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.

Examples

The existing minimally invasive surgical forceps with the joint groups can realize autorotation in a certain angle, and the angle of the forceps head is required to achieve an ideal state required by doctors in narrow spaces such as abdominal cavities. The rotation locking is needed to be flexibly matched, and the rotation can still be realized after the locking under various emergency conditions in actual use, which is a function necessary for technical development.

The invention aims at overcoming the defects of the prior art, and provides the minimally invasive surgical forceps for minimally invasive surgery, which is beneficial to maximally reducing the hand fatigue degree of doctors in long-term surgery, is convenient to operate and reduces the influence on the surgical quality.

Referring to fig. 1 to 19, there is shown a minimally invasive surgical forceps including a housing 1, an opening and closing mechanism 2, and an attitude adjusting mechanism 3.

Referring to fig. 2, 11 to 16, the opening and closing mechanism 2 includes an opening and closing handle 21, a link assembly 22, an engagement assembly 23, a control wire 24, and a clamp head module 25; the opening and closing handle 21 is used for retracting the control wire 24 to drive the clamp head module 25 to clamp or open and release the tissue to be treated; the forceps head module 25 is arranged at the far end of the minimally invasive forceps, the connecting rod assembly 22 is arranged between the opening and closing handle 21 and the connecting assembly 23, the connecting assembly 23 is in transmission connection with the control wire 24, and the connecting rod assembly 22 is used for driving the connecting assembly 23 to slide and retract the control wire 24 in the rotating stroke of the opening and closing handle 21; the opening and closing handle 21 is movably connected with the shell 1, one end of the control wire 24 is in transmission connection with the opening and closing handle 21, the other end of the control wire 24 is fixedly connected with the clamp head module 25, and the control wire 24 is slidably arranged in the joint module 33. According to the invention, the control wire 24 can be pulled by operating the opening and closing handle 21, so that the control wire 24 drives the correspondingly configured pliers heads, the control wire 24 is slidably arranged in the joint module 33, and the driving process is smooth; the minimally invasive surgical forceps drive the control wire 24 through the opening and closing mechanism 2 to drive the forceps head module 25 to carry out closed clamping or open and release tissues to be treated, and the opening and closing clamping process is convenient and rapid to adjust.

Referring to fig. 11 and 12, the opening and closing handle 21 is provided with a holding end 211 and a first connecting end 212, the first connecting end 212 is rotationally connected with the housing 1, the opening and closing handle 21 can rotate around the rotation centers of the first connecting end 212 and the housing 1, and in the rotation stroke of the opening and closing handle 21, a part of the holding end 211 is exposed out of the housing 1 in the opening and closing process, so that the holding operation of hands of medical staff is facilitated.

Referring to fig. 11 and 12, the folding handle 21 is provided with a second connecting end 213, and the link assembly 22 includes a first link 221, a second link 222 and a third link 223; one end of the first link 221 is rotatably connected with the second connection end 213, the other end of the first link 221 is rotatably connected with one end of the second link 222, the second link 222 is fixedly connected with the third link 223, and the opening and closing handle 21 drives the second link 222 and the third link 223 to synchronously slide parallel to the extending direction of the joint module 33 by driving the first link 221.

Referring to fig. 12 and 13, a guiding structure is provided in the housing 1, the guiding structure is suitable for guiding the movement of the link assembly 22, the guiding structure can be provided as a guiding protrusion connected to the link assembly 22, a guiding groove is provided on the link assembly 22, and when the opening and closing handle 21 drives the link assembly 22 to move, the guiding protrusion is slidingly connected with the guiding groove; in the present embodiment, the second link 222 and the third link 223 are provided with guide grooves; wherein the guiding direction of the guiding structure and the extending direction of the joint module 33 are arranged in parallel. Of course, a guide projection may be provided on the link assembly 22, and the guide structure may be provided as a guide groove on the inner cavity of the housing 1. In other embodiments, the guide structure may be provided as a connecting pin 254 mounted in the inner cavity of the housing 1, and slidably coupled to the link assembly 22 through the connecting pin 254 to guide the movement of the link assembly 22.

In this embodiment, referring to fig. 16, the clamp head module 25 is configured with a first clamp head 252 and a second clamp head 253, the clamp head module 25 includes a clamp body 251 and a connecting pin 254, any clamp head is rotatably connected with the clamp body 251 through the connecting pin 254, two control wires 24 are provided, and the two control wires 24 are respectively connected with the first clamp head 252 and the second clamp head 253, so as to synchronously clamp or synchronously open the clamp head module 25 through the opening and closing handle 21.

In other embodiments, the clamp head module 25 is configured with a first clamp head 252 and a second clamp head 253, the control wire 24 is provided with one clamp head, the first clamp head 252 is connected with the control wire 24, the first clamp head 252 is rotationally connected with the clamp body 251 through a connecting pin 254, and the second clamp head 253 is fixedly connected with the clamp body 251, so that the first clamp head 252 is adjusted to approach the second clamp head 253 through the opening and closing handle 21, and the clamping action of the tissue to be treated is realized.

The clamp head module 25 can be provided with a rigid sheath, the clamp body 251 is inserted into the fixed rigid sheath, and the control wire 24 is slidably arranged in the rigid sheath; the joint module 33 may be provided with fasteners that are socket-mounted at the distal end of the joint module 33 to fixedly connect the joint module 33 to the rigid sheath, clamp body 251.

Referring to fig. 1 to 5, 12 to 15, the engagement assembly 23 includes an engagement block 231, a gear condition 232, an engagement seat 233, an engagement shaft 234, and a gear member 235; the engagement block 231 is detachably connected to the driving end of the link assembly 22, the driving gear member 232 and the engagement block 231 are configured to be rotatably connected, the driving gear member 235 is rotatably configured on the engagement seat 233 through the engagement shaft 234, the engagement seat 233 is fixedly connected to the joint module 33, the driving gear member 235 is fixedly connected to the proximal end of the control wire 24, and when the opening and closing handle 21 drives the engagement assembly 23 to slide, the driving gear member 235 and the driving gear member 232 are engaged for driving, so that the driving gear member 235 is retracted and extended from the winding control wire 24. The engagement assembly 23 further includes a support member 236, the support member 236 being adapted to support the gear tooth condition 232, the support member 236 being fixedly disposed at the bottom of the gear tooth condition 232.

Referring to fig. 14 and 15, the gear condition 232 includes a connection gear block 2321 and a rotation block 2322, the gear member 235 includes a connection ring groove 2351 and a gear block 2352, the connection gear block 2321 and the gear block 2352 are in meshed connection, the rotation block 2322 is in rotational connection with the engagement block 231, the connection ring groove 2351 and the control line 24 are correspondingly configured, and the connection ring groove 2351 is used for winding the control line 24. In the present embodiment, there are two connecting ring grooves 2351, and the connecting ring grooves 2351 are concavely formed on the circumferential wall surface of the connecting ring groove 2351. The engagement block 231 is provided with a rotation groove 12, and the rotation block 2322 and the rotation groove 12 are slidably disposed.

It should be noted that, be equipped with through wires hole and threading chamber on the bracing piece 333, the through wires hole is used for linking joint line slip to wear to establish, and the threading chamber is used for the wearing of control line 24 to establish, and through wires hole and threading chamber are independent setting respectively, avoid the interference of sliding stroke.

Referring to fig. 11 and 12, the opening and closing handle 21 is provided with a receiving groove 214, and the receiving groove 214 is adapted to receive a return spring; the housing 1 is provided with a stop piece 11, the stop piece 11 is suitable for abutting against a return spring, and the stop piece 11 is correspondingly configured along with the rotation stroke of the opening and closing handle 21 towards the accommodating groove 214. In some embodiments, the stop 11 is configured as an arc-shaped rod, the central angle of which may coincide with the central angle of rotation of the opening and closing handle 21 about the first connection end 212. The opening and closing angle of the opening and closing handle 21 is limited by the approach of the reset spring and the stop piece 11 which are arranged in the accommodating groove 214; when the opening and closing handle 21 is reset, the elastic force of the reset spring acts on the stop piece 11 during compression to enable the opening and closing handle 21 to move towards the direction away from the shell 1, so that the opening and closing handle 21 drives the connecting rod assembly 22 to reset and slide, the connecting rod assembly 22 drives the transmission gear condition 232 and the transmission gear piece 235 in the connecting assembly 23 to reset and mesh, and the coiled control line 24 is released to enable the clamp head module 25 to be opened.

Referring to fig. 1 to 7, the posture adjustment mechanism 3 includes an adjustment handle 31, a rotation assembly 32, a joint module 33, and a lock assembly 34; the adjusting handle 31 is movably connected with the shell 1, the rotating component 32 is connected with the adjusting end of the adjusting handle 31, and the rotating component 32 is rotatably arranged in the shell 1; the joint module 33 is movably arranged in the shell 1, the proximal end of the joint module 33 is in transmission connection with the rotating assembly 32, the distal end of the joint module 33 is fixedly connected with the clamp head module 25, and the locking assembly 34 is arranged at the transmission end of the adjusting handle 31; wherein the joint module 33 is a flexible joint, and the proximal end and the distal end of the joint module 33 are connected and arranged; the proximal end of the joint module 33 and the locking assembly 34 are configured to be rotatably disposed, the locking assembly 34 is capable of locking the proximal end of the joint module 33 against radial bending and axial displacement of the joint module 33, and the adjustment handle 31 has an adjustment state in which the driving rotation assembly 32 drives the proximal end of the joint module 33 to adjust the rotation angle of the distal end of the joint module 33 and the jaw module 25 about the extending axis direction of the joint module 33 when the proximal end of the joint module 33 is in the locked state.

Referring to fig. 1 and 3, the locking assembly 34 includes a locking member 343 and a locking member 344, the locking member 343 and the adjustment handle 31 are relatively fixedly disposed, the locking member 343 can slide close to and away from the locking member 344 under the driving of the adjustment handle 31 to form a locking position and an unlocking position, and the locking member 344 is disposed in the sliding direction of the locking member 343; the locking member 343 is switched between the locking position and the unlocking position by the sliding movement of the adjustment handle 31.

The locking element 344 and the proximal end of the joint module 33 are configured for rotational connection; the axis of rotation 323 at the proximal end of the joint module 33 coincides with the axis of extension of the joint module 33. The rotating assembly 32 is driven by the adjusting handle 31 to rotate the proximal end of the joint module 33, thereby rotating the distal end of the joint module 33 and the clamp head module 25.

In the present embodiment, referring to fig. 3 to 6, the rotating assembly 32 includes a fourth gear 325 and a joint sleeve 326, the fourth gear 325 is sleeved on the joint sleeve 326, the locking pieces 344 are disposed in the joint sleeve 326 at intervals, and the central axis direction of the joint sleeve 326 and the extending direction of the joint module 33 are disposed in a coincident manner; the joint sleeve 326 is provided with a bending deformation space at the proximal end of the joint module 33; the proximal end of the joint module 33 is provided with a plurality of first adapters 331, first joint units 332 and supporting rods 333 which are arranged in series, the first joint units 332 are fixedly arranged relative to the joint sleeve 326, and the first joint units 332 adjacent to the supporting rods 333 are rotatably connected with the supporting rods 333; the locking member 344 is rotatably disposed with the first articulation unit 332 adjacent thereto to permit proximal rotation of the articulation module 33.

Referring to fig. 6 and 19, the locking member 344 has a mounting cavity 3441, and the first articulation unit 332 adjacent to the locking member 344 is movably abutted within the mounting cavity 3441, the mounting cavity 3441 and the articulation unit being clearance fit to allow external force to adjust circumferential rotation of the articulation module 33 in its extending direction.

In the minimally invasive surgical forceps provided in this embodiment, the mounting cavity 3441 is in clearance fit with the first joint unit 332 adjacent to the locking element 344, so that after the locking element 343 and the locking element 344 are located at the locking position, the rotation assembly 32 can still be driven by adjusting the hand to adjust the circumferential rotation of the proximal end of the joint module 33, so that the circumferential rotation of the forceps head module 25 at the distal end of the joint module 33 is correspondingly adjusted, which is beneficial to improving the application capability of the minimally invasive surgical forceps and meeting the use requirement that the forceps head module 25 can still rotate after being locked. In the present embodiment, the locking component 34 can limit the locking, the bending change of the joint module 33, the axial displacement of the joint module 33 along the extending direction, and the circumferential rotation stroke of the joint module 33.

In some embodiments, the support rod 333 is movably connected with the hook ball instead of the first joint unit 332 adjacent to the support rod 333, the support rod 333 is provided with a rotating end 311, the rotating end 311 is arranged in the hook ball, a clearance fit is adopted between the rotating end 311 and the hook ball, and when the adjusting handle 31 drives the rotating assembly 32 to drive the joint module 33 to rotate proximally, the support rod 333 can rotate around the extending axis direction of the joint module 33.

In some embodiments, the support rod 333 and the first joint unit 332 adjacent to the support rod 333 are connected to the hook ball in a rotating manner, and a part of the structure of the support rod 333 and a part of the first joint unit 332 adjacent to the support rod 333 are disposed in the hook ball, so that a clearance fit is similarly adopted to achieve the purpose of enabling the rotation adjustment of the clamp head module 25 after locking.

The locking piece 344 is sleeved on the supporting rod 333, and the joint sleeve 326 and the locking piece 343 are configured to be arranged at intervals or in a butt rotation manner; of course, a bearing or bushing may be provided between the articulation sleeve 326 and the locking member 343 to facilitate friction reduction to enhance rotational ability of the proximal end of the articulation module 33.

Referring to fig. 12, a rotation groove 12 is provided in the housing 1, and the rotation groove 12 is rotatably disposed with the joint sleeve 326, so that the rotation accuracy of the joint sleeve 326 is enhanced by the limitation of the rotation groove 12, and the joint sleeve 326 is rotated circumferentially around the desired extending direction of the joint module 33.

In this embodiment, referring to fig. 6 and 9, the locking member 344 is provided as a hook ball, which is provided as an incomplete hollow sphere, and the hook ball is sleeved on the proximal end of the joint module 33; the locking piece 343 is provided with an annular structure, and the locking piece 343 is movably sleeved on the locking piece 344; the central axis of the locking piece 343 is overlapped with the center of the hook ball. The locking piece 344 is arranged as a hook ball, and the locking piece 343 is arranged as an annular structure sleeved on the locking piece 344, so that a larger contact locking area is formed between the locking piece 344 and the locking piece 343, and the connection locking stability is enhanced; the central axis of the locking piece 343 is overlapped with the spherical center of the hook ball, so that the connection precision of the circumferential locking is improved, and the stability of the clamp head module 25 during locking is enhanced.

Referring to fig. 9 and 10, a first locking protrusion is annularly distributed on an annular inner side wall surface of the locking member 343, a second locking protrusion is annularly distributed on an outer wall surface of the locking member 344, and the first locking protrusion and the second locking protrusion are abutted and limited by the approach of the locking member 343 and the locking member 344, so as to realize locking fit between the locking member 343 and the locking member 344.

Referring to fig. 3 and 9, the locking assembly 34 further includes a locking adapter 341, one end of the locking adapter 341 is in transmission connection with the adjustment handle 31, and the other end of the locking adapter 341 is fixedly connected with the locking piece 343; the locking adapter 341 is arranged on the side of the locking piece 343 remote from the locking piece 344.

The housing 1 is provided with a sliding space of the locking piece 343, so that the locking piece 43 can move to a locking position and an unlocking position relative to the joint module 33; the locking adapter 341 is disposed through the sliding space.

The casing 1 is provided with a positioning groove (not shown in the figure), the positioning groove is arranged through the casing 1, referring to fig. 9, the locking adapter 341 is provided with a positioning hole 3412, the locking piece 343 is positioned at the locking position, the positioning groove and the positioning hole 3412 are communicated and aligned, and the positioning groove and the positioning hole 3412 are suitable for accommodating and connecting with a peripheral positioning piece. When the locking piece 343 and the locking piece 344 are connected at the locking position, the external positioning piece is inserted into the positioning groove and the positioning hole 3412 to relatively fix the casing 1 and the locking piece 343, so that the locking piece 343 and the locking piece 344 are fixedly locked to maintain the movement postures of the joint module 33 and the clamp head module 25, which is beneficial to reducing the use difficulty, improving the use convenience, and avoiding the problem that the medical staff continuously operates the adjusting handle 31 to fix the locking piece 343 and the locking piece 344 through hands, thereby causing arm fatigue and affecting the quality of the operation. Wherein, the peripheral positioning member can be partially inserted into the inserting positioning groove and the positioning hole 3412 for locking, and partially exposed out of the outer wall surface of the housing 1 for facilitating the medical personnel to operate and configure the locking or separating between the housing 1 and the locking adapter 341.

Referring to fig. 9, the locking assembly 34 is provided with an assembly hole 3411, the assembly hole 3411 is used for connecting the adjustment handle 31, when the adjustment handle 31 drives the adjustment joint module 33 to rotate, the locking adapter 341 and the adjustment handle 31 rotate relatively, and the assembly hole 3411 is in sliding abutting connection with the adjustment handle 31; when the adjusting handle 31 slides to switch the position of the locking piece 343, the locking adapter 341 and the adjusting handle 31 slide synchronously, the locking adapter 341 is provided with a connecting structure clamped with the adjusting handle 31 in the sliding direction, and the connecting structure is of an annular structure so as to avoid influencing the rotation of the adjusting handle 31.

Referring to fig. 9, the locking assembly 34 further includes a fixing sleeve 342, and the fixing sleeve 342 is fixedly connected with a locking member 343; the locking adapter 341 is provided with a fixing ring 3413, and the fixing sleeve 342 is assembled through the fixing ring 3413 to connect the fixing sleeve 342 with the locking piece 343 in an aligned manner, so that the aligning capability between the locking piece 343 and the locking piece 344 is enhanced, and the aim of effective locking and limiting is fulfilled. In this embodiment, to simplify the structure and facilitate the assembly between the fixing sleeve 342 and the locking adapter 341, the fixing ring 3413 is configured as a half-ring structure, and a part of the fixing sleeve 342 is fixedly disposed in the fixing ring 3413.

In the present embodiment, referring to fig. 1 to 7 and 16, the distal end of the joint module 33 is provided with a second adapter 335, a second joint unit 336 and a third adapter 337, which are disposed in series; the second joint unit 336 is provided with a plurality of third adapter pieces 337 fixedly connected with the clamp head module 25; the joint module 33 comprises a connecting rod 334 and a linkage joint line (not shown in the figure), wherein one end of the connecting rod 334 is fixedly connected with the supporting rod 333, the other end of the connecting rod 334 is fixedly connected with the second adapter 335, and the linkage joint line is arranged in the connecting rod 334 in a penetrating way; the linkage joint line is provided with two at least, and the proximal end and the first adaptor 331 of linkage joint line are fixed connection, and the distal end and the third adaptor 337 of linkage joint line are fixed connection.

Referring to fig. 8, the joint module 33 further includes a limiting member 338, the coupling rod 334 is configured as a hollow rod, the limiting member 338 is rotatably mounted in the coupling rod 334, first limiting cavities 3381 are symmetrically distributed on the outer wall surface of the limiting member 338 in a central manner, the first limiting cavities 3381 are suitable for accommodating linkage joint lines, the first limiting cavities 3381 and the linkage joint lines are correspondingly arranged, and the extending direction of the first limiting cavities 3381 is the same as the extending direction of the coupling rod 334; the limiting piece 338 is internally provided with a second limiting cavity 3382 in a penetrating way, the second limiting cavity 3382 is suitable for slidably accommodating the control line 24 of the opening and closing mechanism 2, and the first limiting cavity 3381 and the second limiting cavity 3382 are respectively and independently arranged so that the linkage joint line and the control line 24 are arranged at intervals. In the present embodiment, the length of the coupling rod 334 is not particularly limited.

In some embodiments, the distal end of the coupling rod 334 is provided with a recess, and the second adapter 335 at the distal end of the joint module 33 is inserted into and secured to the recess.

The number of the first joint units 332 and the number of the second joint units 336 may be set to different numbers; preferably, the number of first articulation units 332 and the number of second articulation units 336 may be set to the same number to facilitate proximal and distal linkage synchronization of the articulation module 33.

In the embodiment, four linkage joint lines are provided, and the four linkage joint lines respectively penetrate through joint units in sliding connection and have the same length; the number of the first joint units 332 and the second joint units 336 are each set to five. And a wire outlet through which the linkage joint line slides is arranged on any joint unit and any one of the rotating parts. The linkage between the proximal end and the distal end of the joint module 33 is realized through the joint unit and the linkage joint line, and the elastic capacity of the linkage joint line is used for transmitting acting force and moment, so that the proximal end and the distal end of the joint module 33 are linked, and the aim of adjusting the movement posture of the clamp head module 25 in a transmission manner is fulfilled. It should be noted that, the linkage joint line is configured as a flexible line, which requires a certain tensile strength, but has a smaller elasticity or tensile deformation; in one embodiment, the joint line is made of medical memory alloy, such as nickel-titanium alloy wire or nickel-titanium alloy wire, or other materials with better strength; to resiliently reposition after proximal and distal bending movements of the joint module 33.

Whether the locking piece 343 is at the locking position or the unlocking position, under the action of external force, the adjusting handle 31 is provided with an adjusting state for driving the rotating component 32 to drive the joint module 33 so as to adjust the rotation angle of the clamp head module 25 around the extending direction of the joint module 33; the adjusting handle 31 can be operated by the hands of a medical person to rotate so as to drive the rotating component 32 and the proximal end of the joint module 33 to rotate, so that the distal end of the joint module 33 is driven by the proximal end of the joint module 33 to correspondingly drive the clamp head module 25 to rotate; the operation of the surgical operation is convenient, the rotation action of the clamp head die is flexibly regulated, the hand operation fatigue of medical staff is reduced, and the operation quality is improved.

The medical staff can adjust and lock the movement posture of the clamp head module 25 through the adjusting handle 31; the locking assembly 34 is driven by the adjusting handle 31 to lock the proximal end of the joint module 33 to bend radially and the joint module 33 to displace axially, so that the movement posture of the clamp head module 25 after adjustment is locked, and the stability of the clamp head module 25 during clamping work can be improved; after locking, the adjusting handle 31 can be rotated to drive the rotating assembly 32 to drive the joint module 33 to rotate, so that the joint module 33 drives the forceps head module 25 to rotate around the extending direction of the joint module 33, and the minimally invasive forceps can meet the operation requirements of flexibly adjusting different circumferential angles of the forceps head module 25; the joint module 33 drives the pitching, the swaying and the autorotation of the clamp head module 25 to adjust the gesture; the minimally invasive surgical forceps provided by the invention are convenient to operate, and the front end forceps head module 25 can still perform autorotation adjustment after being locked, so that the application capacity of the surgical forceps is enhanced, the hand operation fatigue of medical staff is reduced, and the surgical quality is improved.

Referring to fig. 17, the adjusting handle 31 includes a rotating end 311, an assembling sleeve 312 and a connecting shaft 314, the rotating end 311 is fixedly connected with the assembling sleeve 312, the connecting shaft 314 is inserted into one end of the assembling sleeve 312 away from the rotating end 311, the rotating end 311 is externally arranged on the housing 1, and the connecting shaft 314 is in transmission connection with the rotating assembly 32. The rotating end 311 drives the assembly sleeve 312 and the connecting shaft 314 to rotate so as to drive the rotating assembly 32 and the proximal end of the joint module 33, and the distal end of the joint module 33 and the clamp head module 25 correspondingly rotate; the clamp head module 25 can be correspondingly rotated left-handed or right-handed by rotating the movable end 311 left-handed or right-handed. The rotating end 311 and the mounting sleeve 312 may be configured as an integral molding.

Referring to fig. 2 to 6, the rotating assembly 32 includes a gear set including a first gear 321, a second gear 322, a third gear 324 and a fourth gear 325, which are disposed in parallel with an axial center line, the first gear 321 and the second gear 322 are engaged with each other, the third gear 324 and the fourth gear 325 are engaged with each other, the connecting shaft 314 is in driving connection with the first gear 321, one end of the rotating shaft 323 is in driving connection with the second gear 322, the other end of the rotating shaft 323 is in driving connection with the third gear 324, and the joint sleeve 326 is fixedly sleeved on the fourth gear 325; the support bearing group includes a first bearing 327, a second bearing 328, and a third bearing 329, and any one of the bearings is rotatably disposed with the rotating shaft 323, where the first bearing 327 and the third bearing 329 are opposite to each other and are sleeved at two ends of the extending direction of the rotating shaft 323, and the second bearing 328 is sleeved at the middle section of the rotating shaft 323. The first gear 321 is driven by the connecting shaft 314 in the adjusting handle 31, and the second gear 322, the third gear 324, the rotating shaft 323, the fourth gear 325 and the joint sleeve 326 are sequentially driven to rotate along the transmission path, and the joint sleeve 326 drives the proximal end of the joint module 33 to rotate, so that the purpose of driving the proximal end of the joint module 33 to rotate by the adjusting handle 31 is achieved.

In some embodiments, the articulation sleeve 326 and the fourth gear 325 are integrally formed, which facilitates reducing assembly errors and enhancing structural accuracy.

The rotating component 32 can be distributed along the inner space of the shell 1, the shell 1 can be held by a right hand, the adjusting handle 31 is operated by a left hand, the rotating component 32 rotates along with the adjusting handle 31, the joint module 33 and the clamp head module 25 are driven to correspondingly rotate by the rotating component 32, the overall layout accords with the ergonomics, and the adjustment of the hand actions of medical staff is facilitated.

Referring to fig. 13, the housing 1 is provided with a support structure 13, and the support structure 13 and the rotating assembly 32 are rotatably arranged; the supporting structure 13 is used for installing and supporting the bearing group, and plays a role in limiting and bearing the supporting bearing group. The support structure 13 may be provided as a support block, which is arranged in correspondence with the bearing.

Referring to fig. 9, in order to improve the compactness and reduce the volume of the overall housing 1, the lock adapter 341 is provided with an avoidance cavity 3414, and the avoidance cavity 3414 may be used to avoid the rotating assembly 32, and meanwhile, the avoidance cavity 3414 forms an assembly space of the second gear 322 in the rotating assembly 32.

The locking piece 343 and the locking piece 344 are provided with locking matching structures; in the locking position, the locking engagement structure is used to limit the axial displacement of the joint module 33 along the extending direction thereof, so as to lock the posture of the clamp head module 25.

In some embodiments, the lock mating structure includes a first locking protrusion and a second locking protrusion, one of which is disposed on the lock 343 and the other of which is disposed on the lock 344; any locking protrusion is provided on the opposite end surfaces of the locking piece 343 and the locking piece 344; in the locking position, the first locking protrusion and the second locking protrusion are mutually inserted and limited, so that the limitation of the extending direction of the joint module 33 can be realized; in the unlocking position, the first locking protrusion and the second locking protrusion are separated from each other to limit.

In some embodiments, the lock mating structure includes a lock projection and a lock groove, one of which is disposed on the lock 343 and the other of which is disposed on the lock 344; the locking protrusion and the locking groove are correspondingly arranged on the opposite end surfaces of the locking piece 343 and the locking piece 344, and are correspondingly arranged in a conformal manner; in the locking position, the locking protrusion and the locking groove are embedded and limited, so that the limit on the extending direction of the joint module 33 can be realized; in the unlocking position, the locking protrusion and the locking groove are separated from each other to limit.

In the above description, the locking protrusion may be provided in a circular truncated cone structure; for example, the locking piece 343 is provided with a first locking protrusion, and the radial dimension of the truncated cone structure is gradually reduced along the direction away from the wall surface of the locking piece 343; the locking piece 344 is provided with a second locking protrusion, the radial dimension of the truncated cone structure is gradually reduced along the direction away from the wall surface of the locking piece 343, and the first locking protrusion and the second locking protrusion form a locking matching space, so that mutual limiting, locking and disengaging limiting between the locking piece 343 and the locking piece 344 are facilitated.

As a modification, the locking projections are provided in a sliding plate body structure, a plurality of locking projections are provided, and the plurality of locking projections are arranged at intervals to form a locking matching space; for example, the locking protrusion is disposed on the locking member 343, the locking member 344 is provided with a locking groove, and the sliding plate structure is close to the locking member 344 by moving the locking member 343, so as to be inserted into the locking groove, so as to achieve the purpose of locking and limiting between the locking member 343 and the locking member 344.

As a modification, the locking projections are provided in a spiral line structure, a plurality of locking projections are provided, and the plurality of locking projections are arranged at intervals to form a locking matching space; for example, the locking member 343 is provided with a first locking protrusion, the locking member 344 is provided with a second locking protrusion, the first locking protrusion and the second locking protrusion are both in spiral structures, and the locking member 343 approaches the locking member 344 to make the first locking protrusion and the second locking protrusion approach the abutment limit, so as to achieve the purpose of locking limit between the locking member 343 and the locking member 344.

According to the minimally invasive surgical forceps provided by the embodiment, the locking piece 343 is driven to slide towards the locking piece 344 by the adjusting handle 31, so that the locking piece 343 is contacted with the locking piece 344 to form a locking position, and the joint module 33 is locked and positioned by the locking piece 343, so that the forceps head module 25 at the far end of the joint module 33 keeps an adjusted movement posture, and the aim of stably clamping the forceps head module 25 is fulfilled; accordingly, when the locking piece 343 is driven to slide away from the locking piece 344 by the adjusting handle 31, the locking piece 343 and the locking piece 344 are separated to form an unlocking position, so that the movement posture of the clamp head module 25 can be adjusted by the adjusting handle 31 or external force; the locking and unlocking processes are convenient and quick to adjust, and the movement posture of the clamp head module 25 can be adjusted quickly.

The adjusting handle 31 and the shell 1 are configured to be in sliding connection, and under the action of external force, the adjusting handle 31 has a sliding state of driving the locking piece 343 to be switched between a locking position and an unlocking position; in the unlocked position of the locking member 343, the locking member 343 unlocks the joint module 33 to allow the joint module 33 to adjust the posture of the binding clip module 25, such as adjusting the pitch, yaw, rotation, and combinations thereof of the binding clip module 25; when the locking member 343 is at the locking position, the locking member 343 locks the joint module 33, and can allow the joint module 33 to adjust the posture of the pliers head module 25 to perform the rotation operation.

The joint module 33 is not acted by external force, the joint module 33 is in an initial state, the linkage joint line is in a straight line posture, the connecting rod 334 and the linkage joint line are arranged in parallel, the first adapter 331, the first joint unit 332 and the supporting rod 333 which are connected in series at the proximal end of the joint module 33 are in a straight line posture, the second adapter 335, the second joint unit 336 and the third adapter 337 which are connected in series at the distal end of the joint module 33 are also in a straight line posture, and the clamp head module 25 is positioned in the length direction of the distal end of the joint module 33. In the above description, the extending direction of the joint module 33 is set to the axial length direction of the joint module 33 in a straight state.

When the clamp head module 25 is adjusted to pitch up and down, the locking piece 343 is in an unlocking position, the outer wall surface of the connecting rod 334 can be contacted by a hand or an external supporting ring, when the other hand operates the shell 1, for example, a medical staff holds the operating shell 1 upwards, the joint sleeve 326 in the shell 1 acts on the first joint unit 332 and the first adapter 331 at the proximal end of the joint module 33 to gradually bend upwards, the linkage joint line at the upper side in the proximal end of the joint module 33 is extruded by the first joint unit 332 and the first adapter 331, the linkage joint line at the lower side in the proximal end of the joint module 33 is stretched by the first joint unit 332 and the first adapter 331, and the proximal end of the linkage joint line also gradually bends upwards; meanwhile, due to the elastic deflection of the linkage joint line, the distal end of the linkage joint line gradually bends and moves downwards, and the second joint unit 336 and the second adapter 335 correspondingly drive the distal end of the joint module 33 to gradually bend and move downwards, so that the forceps head module 25 at the distal end of the joint module 33 moves downwards along with the distal end of the joint module 33, and the forceps head module 25 moves to a desired working area to clamp the tissue to be treated. Accordingly, when the medical staff holds the operation housing 1 downward, the joint sleeve 326 in the housing 1 acts on the first joint unit 332 and the first adapter 331 at the proximal end of the joint module 33 to gradually bend downward, the proximal end of the joint line also gradually bends downward, the distal end of the joint line gradually bends upward, the joint module 33 and the jaw module 25 gradually bends upward, and the jaw module 25 moves to a desired working area to perform a clamping operation or the like on the tissue to be treated.

When the left-right deflection action of the clamp head module 25 is regulated, the working principle of the clamp head module 25 is similar to the working principle of the up-down pitching action of the clamp head module 25, and the difference is that a medical staff holds the operation shell 1 to operate the shell 1 leftwards or rightwards; of course, the present embodiment is not limited to the adjustment operation in the vertical and horizontal directions, and the movement position of the clamp head module 25 may be adjusted by the joint module 33 according to the actual required direction of the medical staff.

When the clamp head module 25 rotates, the adjusting handle 31 is directly rotated, so that the adjusting handle 31 drives the rotating assembly 32 to drive the proximal end of the joint module 33 to rotate, and the elastic energy of the linkage joint line is utilized to transmit acting force and moment, so that the distal end of the joint module 33 correspondingly rotates. The pliers head module 25 may perform rotation adjustment in any posture.

In the above description, the forceps head module 25 may be replaced with surgical instruments such as tissue shears, electric knives, electric clamps, suction devices, etc. to treat the tissue to be treated.

Referring to fig. 18, the adjustment handle 31 further includes a flexible buckle 313, a release member 315, and a coupling member 316, where the flexible buckle 313 is formed on the assembly sleeve 312, the flexible buckle 313 is in snap fit with the housing 1, the release member 315 is used to release the snap fit between the flexible buckle 313 and the housing 1, and the release member 315 is disposed through the rotating end 311 and the assembly sleeve 312; one end of the connecting piece 316 is fixedly connected with the flexible buckle 313, the other end of the connecting piece 316 is fixedly connected with the release piece 315, and the connecting piece 316 and the flexible buckle 313 are correspondingly configured; the assembly body 312 is provided with deformation spaces for movement of the flexible snaps 313 and the links 316 into the assembly body 312. In this embodiment, two flexible snaps 313 are provided, and the two flexible snaps 313 are symmetrically formed on the mounting sleeve 312. The adjusting handle 31 and the shell 1 are assembled in a clamping way through the flexible buckle 313, and one end of the adjusting handle 31 with the flexible buckle 313 is pressed into the shell 1; when the adjusting handle 31 needs to be disassembled, the release piece 315 is utilized to release the clamping fit between the flexible buckle 313 and the shell 1, the release piece 315 drives the connecting piece 316 and the flexible buckle 313 to enable the flexible buckle 313 to move towards the deformation space in the assembly sleeve 312, and the outer wall surface of the flexible buckle 313 is separated from the clamping fit with the shell 1; the adjusting handle 31 and the shell 1 are convenient to assemble and disassemble.

Preferably, the release member 315 is provided with an end portion exposed to the adjustment handle 31, and the release member 315 exposed to the adjustment handle 31 is pressed by a finger to facilitate movement of the release member 315 toward the inside of the housing 1.

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. Minimally invasive surgical forceps, including casing (1) and binding clip module (25), binding clip module (25) disposes minimally invasive surgical forceps's distal end, its characterized in that still includes:

the adjusting handle (31) is movably connected with the shell (1);

the rotating assembly (32) is connected to the adjusting end of the adjusting handle (31), and the rotating assembly (32) is rotatably arranged in the shell (1);

the joint module (33) is movably arranged in the shell (1), the proximal end of the joint module (33) is in transmission connection with the rotating assembly (32), the distal end of the joint module (33) is fixedly connected with the clamp head module (25), and the proximal end and the distal end of the joint module (33) are in linkage arrangement;

And the locking component (34) is arranged at the transmission end of the adjusting handle (31), the proximal end of the joint module (33) and the locking component (34) are configured to be rotationally arranged, the locking component (34) can lock the radial bending of the proximal end of the joint module (33) and the axial displacement of the joint module (33), the adjusting handle (31) is provided with a driving component (32) to drive the proximal end of the joint module (33) under the locking state of the proximal end of the joint module (33) so as to adjust the adjusting state of the rotation angle of the distal end of the joint module (33) and the clamp head module (25) around the extending axial direction of the joint module (33).

2. The minimally invasive surgical forceps according to claim 1, characterized in that the locking assembly (34) comprises a locking element (343) and a locking element (344), the locking element (343) and the adjustment handle (31) being arranged fixedly relative to each other, the locking element (343) being slidably movable, under the actuation of the adjustment handle (31), towards and away from the locking element (344) to form a locked position and an unlocked position, the locking element (344) being arranged in a sliding direction of the locking element (343);

the locking element (344) and the proximal end of the joint module (33) are configured for rotational connection; the rotating shaft (323) line at the proximal end of the joint module (33) is overlapped with the extending axis of the joint module (33).

3. The minimally invasive surgical forceps according to claim 2, wherein the rotation assembly (32) comprises a fourth gear (325) and a joint sleeve (326), the fourth gear (325) is mounted on the joint sleeve (326) in a sleeved mode, the locking pieces (344) are arranged in the joint sleeve (326) at intervals, and the central axis direction of the joint sleeve (326) and the extending direction of the joint module (33) are overlapped; a bending deformation space at the proximal end of the joint module (33) is arranged in the joint sleeve (326);

the joint module (33) is a flexible joint, a first adapter (331), a first joint unit (332) and a supporting rod (333) which are arranged in series are arranged at the proximal end of the joint module (33), the first joint unit (332) is provided with a plurality of joints, the first adapter (331) and the joint sleeve (326) are relatively fixedly arranged, and the first joint unit (332) adjacent to the supporting rod (333) is configured to be in rotary connection with the supporting rod (333);

the locking element (344) is rotatably arranged with the first articulation unit (332) adjacent thereto to allow proximal rotation of the articulation module (33).

4. A minimally invasive surgical clamp according to claim 3, characterized in that the locking element (344) has a mounting cavity (3441), the first articulation unit (332) adjoining the locking element (344) being movably abutted within the mounting cavity (3441), the mounting cavity (3441) and the articulation unit being clearance-fitted to allow an external force to adjust the circumferential rotation of the articulation module (33) in the direction in which it extends; and/or

The locking piece (344) is sleeved on the supporting rod (333); the joint sleeve (326) and the locking member (343) are configured to be spaced apart or rotationally abutted; and/or

The shell (1) is provided with a rotating groove (12), and the rotating groove (12) and the joint sleeve (326) are rotatably arranged.

5. Minimally invasive surgical forceps according to claim 4, characterized in that the locking element (344) is provided as a hook-and-loop ball, which is provided as an incomplete hollow sphere, which hook-and-loop ball is mounted in a sleeved manner on the proximal end of the articulation module (33); the locking piece (343) is arranged into an annular structure, and the locking piece (343) is movably sleeved on the locking piece (344); the central axis of the locking piece (343) is overlapped with the spherical center of the hook joint ball.

6. A minimally invasive surgical clamp according to claim 3, characterized in that the adjustment handle (31) comprises a rotating end (311), an assembling sleeve (312) and a connecting shaft (314), the rotating end (311) and the assembling sleeve (312) are fixedly connected, and the connecting shaft (314) is inserted into one end of the assembling sleeve (312) far from the rotating end (311); the rotating end (311) is arranged outside the shell (1), and the connecting shaft (314) is in transmission connection with the rotating assembly (32);

The rotating assembly (32) comprises a gear set and a support bearing set and a rotating shaft (323);

the gear set comprises a first gear (321), a second gear (322) and a third gear (324) which are arranged in parallel with the axial center line, the first gear (321) is meshed with the second gear (322), the third gear (324) is meshed with the fourth gear (325), the connecting shaft (314) is in transmission connection with the first gear (321), one end of the rotating shaft (323) is in transmission connection with the second gear (322), the other end of the rotating shaft (323) is in transmission connection with the third gear (324), and the joint sleeve (326) is sleeved and fixed on the fourth gear (325); the support bearing group comprises a first bearing (327), a second bearing (328) and a third bearing (329), any bearing is rotatably configured with the rotating shaft (323), the first bearing (327) and the third bearing (329) are opposite and sleeved at two ends of the extending direction of the rotating shaft (323), and the second bearing (328) is sleeved at the middle section of the rotating shaft (323).

7. The minimally invasive surgical forceps according to claim 6, wherein the adjustment handle (31) further comprises a flexible buckle (313), a release member (315) and a coupling member (316), the flexible buckle (313) is formed on the assembly sleeve (312), the flexible buckle (313) is in clamping fit in the housing (1), the release member (315) is used for releasing the clamping fit between the flexible buckle (313) and the housing (1), and the release member (315) is arranged through the rotating end (311) and the assembly sleeve (312); one end of the connecting piece (316) is fixedly connected with the flexible buckle (313), the other end of the connecting piece (316) is fixedly connected with the release piece (315), and the connecting piece (316) and the flexible buckle (313) are correspondingly configured; the assembly sleeve (312) is provided with a deformation space for the flexible buckle (313) and the coupling piece (316) to move towards the inside of the assembly sleeve (312).

8. The minimally invasive surgical forceps of claim 3, characterized in that the distal end of the joint module (33) is provided with a second adapter (335), a second joint unit (336) and a third adapter (337) arranged in series; the second joint units (336) are provided with a plurality of third adapter pieces (337) and the clamp head modules (25) which are fixedly connected;

the joint module (33) comprises a connecting rod (334) and a linkage joint line, one end of the connecting rod (334) is fixedly connected with the supporting rod (333), the other end of the connecting rod (334) is fixedly connected with the second adapter (335), and the linkage joint line is arranged in the connecting rod (334) in a penetrating manner; the linkage joint line is provided with two at least, the proximal end of the linkage joint line is fixedly connected with the first adapter (331), and the distal end of the linkage joint line is fixedly connected with the third adapter (337).

9. The minimally invasive surgical forceps according to claim 8, wherein the joint module (33) further comprises a limiting piece (338), the connecting rod (334) is arranged as a hollow rod, the limiting piece (338) is rotatably installed in the connecting rod (334), first limiting cavities (3381) are symmetrically distributed on the outer wall surface of the limiting piece (338) in a central mode, the first limiting cavities (3381) are suitable for accommodating the linkage joint lines, the first limiting cavities (3381) and the linkage joint lines are correspondingly arranged, and the extending direction of the first limiting cavities (3381) is the same as that of the connecting rod (334);

A second limiting cavity (3382) is arranged in the limiting piece (338) in a penetrating mode, and the second limiting cavity (3382) is suitable for slidably accommodating a control wire (24) of the opening and closing mechanism (2).

10. Minimally invasive surgical forceps according to claim 2, characterized in that the locking assembly (34) further comprises a locking adapter (341), one end of the locking adapter (341) is in transmission connection with the adjustment handle (31), and the other end of the locking adapter (341) is fixedly connected with the locking piece (343); the locking adapter (341) is arranged on the side of the locking piece (343) remote from the locking piece (344).

11. Minimally invasive surgical forceps according to claim 10, characterized in that the housing (1) is provided with a positioning slot, the locking adapter (341) is provided with a positioning hole (3412), the locking piece (343) is in the locking position, the positioning slot and the positioning hole (3412) are arranged in a communicating and aligning manner, and the positioning slot and the positioning hole (3412) are adapted to accommodate and connect at least part of peripheral positioning pieces.

12. The minimally invasive surgical forceps of claim 11, further comprising a fixation sheath (342), the fixation sheath (342) fixedly connected to the locking member (343); the locking adapter (341) is provided with a fixed ring (3413), and at least part of the fixed sleeve (342) is fixedly arranged in the fixed ring (3413); and/or

The locking adapter (341) is provided with an avoidance cavity (3414), and the avoidance cavity (3414) is used for avoiding the rotating assembly (32).

13. Minimally invasive surgical forceps according to claim 2, characterized in that the locking element (343) and the locking element (344) are provided with locking engagement structures; in the locking position, the locking matching structure is used for limiting the axial displacement of the joint module (33) along the extending direction of the joint module so as to lock the posture of the clamp head module (25).

14. The minimally invasive surgical clamp according to claim 13, characterized in that the locking engagement structure comprises a first locking projection and a second locking projection, one of which is provided on the locking element (343) and the other of which is provided on the locking element (344); any locking protrusion is arranged on the opposite end surfaces of the locking piece (343) and the locking piece (344); in the locking position, the first locking protrusion and the second locking protrusion are mutually inserted and limited; in the unlocking position, the first locking protrusion and the second locking protrusion are separated from each other to limit; or (b)

The locking mating structure comprises a locking protrusion and a locking groove, one of the locking protrusion and the locking groove is arranged on the locking piece (343), and the other is arranged on the locking piece (344); the locking protrusion and the locking groove are correspondingly arranged on the opposite end surfaces of the locking piece (343) and the locking piece (344), and the locking protrusion and the locking groove are correspondingly arranged in a conformal manner; in the locking position, the locking protrusion and the locking groove are embedded and limited; and in the unlocking position, the locking protrusion and the locking groove are separated from each other to limit.

15. Minimally invasive surgical forceps according to claim 14, characterized in that any locking projections are provided in any of a circular truncated cone, a sliding plate or a spiral, which are arranged at a distance from each other on the locking element (343) and/or the locking element (344) to form a locking engagement space.

16. Minimally invasive surgical forceps according to any one of claims 1-15, further comprising an opening and closing mechanism (2), wherein the opening and closing mechanism (2) comprises an opening and closing handle (21) and at least one control wire (24), the opening and closing handle (21) is movably connected with the shell (1), one end of the control wire (24) is in transmission connection with the opening and closing handle (21), the other end of the control wire (24) is fixedly connected with the forceps head module (25), the control wire (24) is slidably arranged in the joint module (33), and the opening and closing handle (21) is used for retracting the control wire (24) to drive the forceps head module (25) to clamp or open and release tissue to be treated.

17. Minimally invasive surgical forceps according to claim 16, characterized in that the opening and closing handle (21) is provided with a holding end (211) and a first connecting end (212), the first connecting end (212) is rotationally connected with the housing (1), the opening and closing handle (21) can rotate around the rotation center of the first connecting end (212) and the housing (1), and in the rotation stroke of the opening and closing handle (21), at least part of the holding end (211) is exposed outside the housing (1).

18. The minimally invasive surgical forceps according to claim 17, further comprising a connecting rod assembly (22) and a connecting assembly (23), wherein the connecting rod assembly (22) is arranged between the opening and closing handle (21) and the connecting assembly (23), the connecting assembly (23) is in transmission connection with the control wire (24), and the connecting rod assembly (22) is used for driving the connecting assembly (23) to slidingly retract the control wire (24) in the rotating stroke of the opening and closing handle (21).

19. The minimally invasive surgical forceps according to claim 18, wherein the folding handle (21) is provided with a second connection end (213), and the linkage assembly (22) comprises a first linkage (221), a second linkage (222) and a third linkage (223); one end of the first connecting rod (221) is rotationally connected with the second connecting end (213), the other end of the first connecting rod (221) is rotationally connected with one end of the second connecting rod (222), the second connecting rod (222) is fixedly connected with the third connecting rod (223), and the opening and closing handle (21) drives the first connecting rod (221) to drive the second connecting rod (222) and the third connecting rod (223) to synchronously slide in parallel with the extending direction of the joint module (33);

a guide structure is arranged in the shell (1), and the guide structure is suitable for guiding the movement of the connecting rod assembly (22).

20. The minimally invasive surgical forceps according to claim 18, characterized in that the engagement assembly (23) includes an engagement block (231), a drive tooth condition (232), an engagement seat (233), an engagement shaft (234), and a drive gear member (235);

the connecting block (231) is detachably connected with the transmission end of the connecting rod assembly (22), the transmission gear condition (232) and the connecting block (231) are configured to be rotationally connected, the transmission gear member (235) is rotationally configured on the connecting seat (233) through the connecting shaft (234), the connecting seat (233) is fixedly connected with the joint module (33), the transmission gear member (235) is fixedly connected with the proximal end of the control line (24), and when the opening and closing handle (21) drives the connecting assembly (23) to slide, the transmission gear condition (232) and the transmission gear member (235) are meshed for transmission, so that the transmission gear member (235) is wound and unwound on the control line (24).

21. The minimally invasive surgical forceps according to claim 20, wherein the transmission gear condition (232) comprises a connection gear block (2321) and a rotating block (2322), the transmission gear member (235) comprises a connection ring groove (2351) and a gear block (2352), the connection gear block (2321) and the gear block (2352) are in meshed connection, the rotating block (2322) and the engagement block (231) are in rotating connection, the connection ring groove (2351) and the control wire (24) are correspondingly configured, and the connection ring groove (2351) is used for winding the control wire (24).

22. Minimally invasive surgical forceps according to claim 17, characterized in that the opening and closing handle (21) is provided with a receiving groove (214), the receiving groove (214) being adapted to receive a return spring; the shell (1) is provided with a stop piece (11), the stop piece (11) is suitable for abutting against a return spring, and the stop piece (11) is correspondingly configured towards the accommodating groove (214) along with the rotating stroke of the opening and closing handle (21).

23. The minimally invasive surgical forceps according to claim 16, wherein the forceps head module (25) comprises a forceps body (251), at least one forceps head and a connecting pin (254), the connecting pin (254) is installed in the forceps body (251) in a penetrating manner, the forceps head is rotatably connected with the forceps body (251) through the connecting pin (254), and the forceps head and the control wire (24) are correspondingly configured.

24. Minimally invasive surgical forceps according to any of claims 1-15, characterized in that the housing (1) is provided with a sliding space for a locking element (343) in the locking assembly (34) such that the locking element (343) is movable relative to the joint module (33) into a locked position and an unlocked position; and/or

The shell (1) is provided with a supporting structure (13), and the supporting structure (13) and the rotating assembly (32) are arranged in a rotating mode.