CN211093981U

CN211093981U - Handheld multi-degree-of-freedom laparoscope

Info

Publication number: CN211093981U
Application number: CN201921770152.4U
Authority: CN
Inventors: 曾林旺; 钟思雨; 曾智文
Original assignee: Beijing Xianjin Robot Co ltd
Current assignee: Beijing Xianjin Robot Co ltd
Priority date: 2019-10-22
Filing date: 2019-10-22
Publication date: 2020-07-28
Anticipated expiration: 2029-10-22

Abstract

The utility model discloses a hand-held multi-degree-of-freedom laparoscope, which is characterized by comprising surgical forceps, a surgical mechanical arm and a hand-held part; the opening and closing of the surgical forceps are controlled by an opening and closing execution rod; the surgical mechanical arm comprises an execution arm and an operation arm; the execution arm comprises n execution joints, wherein n is an integer greater than or equal to 2. The utility model has the advantages that: joints of an execution arm of the surgical mechanical arm correspond to joints of an operation arm one by one respectively, and the operation arm and the execution arm are in transmission fit in a gear transmission mode, so that the rigidity is high; when the device is used, a user can manually operate the operating arm to enable the operating arm to synchronously drive the executing arm to correspondingly act, so that manual direct profiling operation is realized; the hand-held part controls the opening and closing of the surgical forceps, the action of the hand-held part is transmitted to the control worm of the surgical forceps through the gear nesting transmission inside the surgical mechanical arm so as to control the opening and closing of the surgical forceps, the control is reliable, and the control of the opening and closing angle of the surgical forceps can be realized.

Description

Handheld multi-degree-of-freedom laparoscope

Technical Field

The utility model relates to a peritoneoscope field especially relates to a hand-held type multi freedom peritoneoscope.

Background

Laparoscopic surgery has the advantages of small wound and quick recovery, and is widely applied to abdominal surgery, thoracic surgery, gynecology and urology surgery. A handheld single-arm multi-degree-of-freedom laparoscope is an important tool for manual laparoscopic surgery. The opening and closing of the existing multi-degree-of-freedom laparoscopic surgical forceps are controlled by a pull rope, the control mode of the pull rope is difficult to realize the control of the opening and closing angle of the surgical forceps, external force needs to be continuously applied to the pull rope to keep the surgical forceps in a closed state, the operation intensity of an operator is increased, and joints of the existing multi-degree-of-freedom laparoscopic are driven by the pull rope, so that the rigidity is poor.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model discloses a hand-held multi-degree-of-freedom laparoscope, which comprises an operating forceps, an operating mechanical arm and a hand-held part; the opening and closing of the surgical forceps are controlled by an opening and closing execution rod; the surgical mechanical arm comprises an execution arm and an operation arm; the executing arm comprises n executing joints, n is an integer greater than or equal to 2, the tail end of the ith executing joint is hinged with the head end of the (i + 1) th executing joint through an ith connecting shaft, and i is an integer from 1 to n-1; the tail end of the ith execution joint is matched with n-i +2 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +2 i-stage transition executing gears are sleeved on the ith connecting shaft, and the first i-stage transition executing gear to the (n-i + 2) th i-stage transition executing gear is vertically meshed with the first i-stage driving executing gear to the (n-i + 2) th i-stage driving executing gear in a one-to-one corresponding mode respectively; the first i-stage transition execution gear is fixedly connected with the head end of the (i + 1) th execution joint; the head end of the (i + 1) th execution joint is matched with n-i +1 i-stage driven execution gears which are sequentially and coaxially stacked together, and the first i-stage driven execution gear to the (n-i + 1) th i-stage driven execution gear and the second i-stage transition execution gear to the (n-i + 2) th i-stage transition execution gear are respectively and correspondingly vertically meshed one by one; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j + 1) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j + 1) th j-stage driven execution gear in a one-to-one correspondence mode; j is an integer of 1 to n-2; the first n-1 stage driven execution gear at the head end of the nth execution joint is coaxially connected with an execution rotating rod, the execution rotating rod is rotatably matched with the nth execution joint, the other end of the execution rotating rod is fixedly connected with an operating forceps, and the second n-1 stage driven execution gear at the head end of the nth execution joint is coaxially connected with the opening and closing execution rod; the operating arm comprises n operating joints, wherein the tail end of the ith operating joint is hinged with the head end of the (i + 1) th operating joint through an ith hinge shaft, and n-i +2 i-stage driving operating gears which are sequentially and coaxially stacked together are matched with the tail end of the ith operating joint; n-i +2 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the n-i +2 i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the n-i +2 i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the i +1 th operation joint; the head end of the (i + 1) th operating joint is matched with n-i +1 i-stage driven operating gears which are sequentially and coaxially stacked together, and the first i-stage driven operating gear to the (n-i + 1) th i-stage driven operating gear and the second i-stage transitional operating gear to the (n-i + 2) th i-stage transitional operating gear are respectively and correspondingly vertically meshed one by one; the first i + 1-stage driving operating gear at the tail end of the (i + 1) th operating joint to the (n-i + 1) th i + 1-stage driving operating gear are respectively and correspondingly and coaxially connected with the first i-stage driven operating gear at the head end of the (i + 1) th operating joint to the n-i +1 i-stage driven operating gear in a one-to-one correspondence mode; the first n-1 stage driven operating gear at the head end of the nth operating joint is coaxially connected with an operating rotating rod, the operating rotating rod is rotatably matched with the nth operating joint, the other end of the operating rotating rod is fixedly connected with the handheld part, and the second n-1 stage driven executing gear at the head end of the nth operating joint is coaxially connected with an opening and closing operating rod; the opening and closing operating rod is connected with the handheld part and is controlled by the handheld part; the first primary driving operation gear to the (n + 1) th primary driving operation gear at the tail end of the first operation joint and the first primary driving execution gear to the (n + 1) th primary driving execution gear at the tail end of the first execution joint are in one-to-one corresponding synchronous transmission connection respectively.

The diameters of the first i-stage driving execution gear to the (n-i + 2) th i-stage driving execution gear are sequentially reduced; the first i-stage transition execution gear and the (n-i + 2) th i-stage transition execution gear are coaxially stacked together in sequence and the diameters of the transition execution gears are sequentially reduced; the diameters of the first i-stage driven execution gear to the (n-i + 1) th i-stage driven execution gear are sequentially reduced; the diameters of the first i-stage driving operation gear to the n-i +2 i-stage driving operation gear are sequentially reduced; the first i-stage transition operating gear to the (n-i + 2) th i-stage transition operating gear are coaxially stacked together in sequence, and the diameters of the transition operating gears are sequentially reduced; the diameters of the first i-stage driven operating gear to the (n-i + 1) th i-stage driven operating gear are sequentially reduced.

The execution arm and the operation arm of the surgical mechanical arm are connected through a connecting arm; two ends of the connecting arm are respectively and vertically connected with the head end of the first executing joint of the executing arm and the head end of the first operating joint of the operating arm; the execution arm and the operation arm are positioned on the same side of the connecting arm; the head end of the first executing joint is matched with n +2 connecting executing gears which are coaxially stacked together in sequence and have diameters which are sequentially reduced in a descending manner, the first connecting executing gear at the head end of the first executing joint is fixedly connected with the head end of the first executing joint, and the second connecting executing gear from the head end of the first executing joint to the (n + 2) th connecting executing gear is respectively in one-to-one coaxial connection with the first primary driving executing gear to the (n + 1) th primary driving executing gear at the tail end of the first executing joint; the head end of the first operating joint is matched with n +2 connecting operating gears which are coaxially stacked together in sequence and have diameters which are sequentially reduced in a descending manner, the first connecting operating gear at the head end of the first operating joint is fixedly connected with the head end of the first operating joint, and the second connecting operating gear to the (n + 2) th connecting operating gear at the head end of the first operating joint is respectively in one-to-one coaxial connection with the first primary active operating gear to the (n + 1) th primary active operating gear at the tail end of the first operating joint; the two ends of the connecting arm are respectively matched with n +2 connecting gears which are coaxially stacked together in sequence and have diameters decreasing in sequence, and the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm are respectively and correspondingly and coaxially connected with the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm in a one-to-one correspondence mode; the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm and the first connecting executing gear to the (n + 2) th connecting executing gear at the head end of the first executing joint are vertically meshed in a one-to-one correspondence mode respectively, and the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm and the first connecting operating gear to the (n + 2) th connecting operating gear at the head end of the first operating joint are vertically meshed in a one-to-one correspondence mode respectively.

The first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the j + 1-stage driving execution gear of the (n-j + 1) th execution joint are respectively and correspondingly and coaxially connected with the first j-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j + 1) th j-stage driven execution gear through n-j +1 hollow execution rotating shafts which are rotatably arranged in the j +1 th execution joint and sequentially penetrate from outside to inside; the second to the (n + 2) th connecting executing gears at the head end of the first executing joint are respectively and correspondingly and coaxially connected with the first to the (n + 1) th primary driving executing gears at the tail end of the first executing joint in a one-to-one correspondence mode through n +1 primary hollow executing rotating shafts which are rotatably arranged in the first executing joint and are sequentially sleeved from outside to inside; the first j + 1-stage driving operation gear at the tail end of the j +1 th operation joint to the j + 1-stage driving operation gear of the n-j +1 th operation joint are respectively and correspondingly and coaxially connected with the j + 1-stage hollow operation rotating shaft, the first j + 1-stage hollow operation rotating shaft is rotatably arranged in the j + 1-th operation joint, the j + 1-stage hollow operation rotating shaft penetrates through the j + 1-stage hollow operation rotating shaft from outside to inside in sequence, and the first j-stage driven operation gear to the n-j + 1-stage driven operation gear at the head end of the j + 1-th operation joint are respectively and coaxially connected; the second to the (n + 2) th connecting operation gears at the head end of the first operation joint are respectively and correspondingly and coaxially connected with the first to the (n + 1) th primary driving operation gears at the tail end of the first operation joint in a one-to-one correspondence mode through n +1 primary hollow operation rotating shafts which are rotatably arranged in the first operation joint and penetrate through the first to the (n + 1) th connecting operation gears in sequence from outside to inside; the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm are respectively in one-to-one correspondence coaxial connection with the (n + 2) th connecting gear through a hollow connecting rotating shaft which is rotatably arranged in the connecting arm and penetrates through the (n + 2) th connecting gear from outside to inside in sequence and the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm.

The operating forceps are connected with a power supply wire; the opening and closing actuating rod, each i-stage driving actuating gear, each i-stage driven actuating gear, each connecting operating gear, each i-stage driven operating gear, each i-stage driving operating gear and the opening and closing actuating rod are all hollow structures; one end of the power supply line is connected with the operating forceps, and the other end of the power supply line penetrates through the opening and closing actuating rod, each i-stage driving actuating gear, the innermost i-stage hollow actuating rotating shaft in the ith actuating joint, each i-stage driven actuating gear, each connecting gear, the innermost hollow connecting rotating shaft in the connecting arm, each connecting operating gear, each i-stage driven operating gear, the innermost i-stage hollow operating rotating shaft in the ith actuating joint, each i-stage driving operating gear and the opening and closing operating rod and then penetrates out of the opening and closing operating rod to be connected with the handheld part.

The surgical forceps comprise a first mounting seat connected with the execution rotating rod, a worm coaxially connected with the opening and closing execution rod, a first forceps body and a second forceps body; the first clamp body is hinged with the first mounting seat; the second clamp body is hinged with the first mounting seat; the first clamp body and the second clamp body are respectively provided with a turbine matched with the worm; the rotating shaft of the turbine on the first clamp body is the same as the hinged shaft of the first clamp body; the rotating shaft of the turbine on the second clamp body is the same as the hinged shaft of the second clamp body.

The surgical forceps comprise a second mounting seat connected with the execution rotating rod, a lead screw coaxially connected with the opening and closing execution rod, a third forceps body hinged with the second mounting seat, a fourth forceps body hinged with the second mounting seat and a slide block nut matched in the second mounting seat in a sliding mode; the sliding block nut is respectively connected with the third clamp body and the fourth clamp body through a first connecting rod and a second connecting rod, two ends of the first connecting rod are respectively hinged with the sliding block nut and the third clamp body, two ends of the second connecting rod are respectively hinged with the sliding block nut and the fourth clamp body, and the sliding block nut is matched with the screw rod; the sliding block nut is used for driving the third clamp body and the fourth clamp body to open and close.

The handheld part comprises a third mounting seat, a handle, a third connecting rod, an opening and closing rack, an opening and closing operation gear and a control button; one end of the handle is hinged with the third mounting seat, and the other end of the handle is provided with a finger hole; one end of the third connecting rod is hinged with the handle, and the other end of the third connecting rod is hinged with the opening and closing rack; the opening and closing operation gear is arranged in the third mounting seat and is coaxially connected with the opening and closing operation rod; the opening and closing rack is matched with the opening and closing operation gear and can slide on the third mounting seat; the control button is arranged on the third mounting seat and is connected with the power supply line.

The utility model has the advantages that: joints of an execution arm of the surgical mechanical arm correspond to joints of an operation arm one by one respectively, and the operation arm and the execution arm are in transmission fit in a gear transmission mode, so that the rigidity is high; when the device is used, a user can manually operate the operating arm to enable the operating arm to synchronously drive the executing arm to correspondingly act, so that manual direct profiling operation is realized; the hand-held part controls the opening and closing of the surgical forceps, the action of the hand-held part is transmitted to the control worm of the surgical forceps through the gear nesting transmission inside the surgical mechanical arm so as to control the opening and closing of the surgical forceps, the control is reliable, and the control of the opening and closing angle of the surgical forceps can be realized.

Drawings

Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention.

Fig. 2 is an exploded view of the actuator arm of the present invention.

Fig. 3 is an exploded view of the operation arm of the present invention.

Fig. 4 is a right side view of fig. 1.

Fig. 5 is a sectional view taken along a-a in fig. 4.

Fig. 6 is an enlarged view of fig. 5 at b.

Fig. 7 is an enlarged view at c in fig. 5.

Fig. 8 is an enlarged view of fig. 5 at d.

Fig. 9 is an enlarged view at e in fig. 5.

<1> in fig. 10 is a perspective view of the hand-held portion of example 1, and <2> in fig. 10 is a sectional view of the hand-held portion of example 1.

Fig. 11 is a schematic view of the overall structure of embodiment 2 of the present invention.

Fig. 12 is a schematic structural view of a pair of surgical forceps according to embodiment 2 of the present invention.

<1> in fig. 13 is a perspective view of the hand-held portion of embodiment 2, and <2> in fig. 13 is a sectional view of the hand-held portion of embodiment 2.

Detailed Description

The embodiments of the present invention are described in detail below to make the advantages and features of the present invention easier to understand by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention.

Example 1

Referring to fig. 1 to 10, a hand-held multi-degree-of-freedom laparoscope comprises a forceps 3, a surgical manipulator 1 and a hand-held part 2.

The surgical manipulator 1 comprises an executing arm 11 and an operating arm 12, wherein the executing arm 11 is used for directly controlling the surgical clamp 3 to move, the operating arm 12 is used for controlling the movement of the executing arm 11, and the executing arm 11 is moved by imitating the movement of the operating arm 12 so as to realize profiling operation. The executing arm 11 comprises n executing joints A, wherein n is an integer greater than or equal to 2; the operating arm 12 includes n operating joints B, and the number of the operating joints B of the operating arm 12 is the same as the number of the executing joints a of the executing arm 11, and hereinafter, description will be given by taking n equal to 3 as an example.

Referring to fig. 2, 5-7, in the actuating arm 11, the tail end of a first actuating joint a1 is hinged with the head end of a second actuating joint a2 through a first connecting shaft D, and the tail end of the first actuating joint a1 is matched with four primary driving actuating gears a11 which are coaxially stacked together in sequence; four first-stage transition executing gears D1 are sleeved on the first connecting shaft D, the first-stage transition executing gear D11, the second first-stage transition executing gear D12, the third first-stage transition executing gear D13 and the fourth first-stage transition executing gear D14 are respectively vertically meshed with the first-stage driving executing gear A111, the second first-stage driving executing gear A112, the third first-stage driving executing gear A113 and the fourth first-stage driving executing gear A114 in a one-to-one correspondence manner, and the first-stage transition executing gear D11 is fixedly connected with the head end of the second executing joint A2 so that the second executing joint A2 can rotate relative to the first executing joint A1 when the first-stage driving executing gear A111 drives the first-stage transition executing gear D11 to rotate; the head end of the second executing joint A2 is matched with three first-stage driven executing gears A22 which are coaxially overlapped in sequence, the first-stage driven executing gear A221, the second first-stage driven executing gear A222 and the third first-stage driven executing gear A223 are vertically meshed with the second first-stage transition executing gear D12, the third first-stage transition executing gear D13 and the fourth first-stage transition executing gear D14 in a one-to-one correspondence mode respectively, and therefore the second first-stage driving executing gear A112 to the fourth first-stage driving executing gear A114 can drive the first-stage driven executing gear A221 to the third first-stage driven executing gear A223 to rotate respectively; the tail end of the second executing joint A2 is hinged with the head end of the third executing joint A3 through a second connecting shaft E, and the second connecting shaft E is perpendicular to the first connecting shaft D so that the rotating central axis of the third executing joint A3 is perpendicular to the rotating central axis of the second executing joint A2; the tail end of the second executing joint A2 is matched with three two-stage driving executing gears A21 which are coaxially overlapped in sequence, the first two-stage driving executing gear A211, the second two-stage driving executing gear A212 and the third two-stage driving executing gear A213 are respectively and correspondingly and coaxially connected with the first one-stage driven executing gear A221, the second one-stage driven executing gear A222 and the third one-stage driven executing gear A223, so that the first two-stage driving executing gear A211 to the third two-stage driving executing gear A212 and the first one-stage driven executing gear A221 to the third one-stage driven executing gear A223 respectively rotate synchronously; three second-stage transition executing gears E1 are sleeved on the second connecting shaft E, the first second-stage transition executing gear E11, the second-stage transition executing gear E12 and the third second-stage transition executing gear E13 are respectively and vertically meshed with the first second-stage driving executing gear A211, the second-stage driving executing gear A212 and the third second-stage driving executing gear A213 in a one-to-one correspondence manner, and the first second-stage transition executing gear E11 and the head end of the third executing joint A3 are fixedly connected so that when the first second-stage driving executing gear A211 drives the first second-stage transition executing gear E11 to rotate, the third executing joint A3 can rotate relative to the second executing joint A2; the head end of the third executing joint A3 is matched with two secondary driven executing gears A32 which are coaxially overlapped in sequence, the first secondary driven executing gear A321 and the second secondary driven executing gear A322 are vertically meshed with the second secondary transition executing gear E12 and the third secondary transition executing gear E13 in a one-to-one correspondence mode respectively, and therefore the second secondary driving executing gear A212 and the third secondary driving executing gear A213 can drive the first secondary driven executing gear A321 and the second secondary driven executing gear A322 to rotate respectively; an execution rotating rod A331 is rotatably matched in the third execution joint A3 and coaxially connected with a first two-stage driven execution gear A321 at the head end of the third execution joint A3, the execution rotating rod A331 is fixedly connected with the surgical forceps 3, and an opening and closing execution rod A332 coaxially connected with a second two-stage driven execution gear A322 is arranged in the execution rotating rod A331 and used for controlling the opening and closing of the surgical forceps 3.

The diameters of a first primary driving executing gear A111, a second primary driving executing gear A112, a third primary driving executing gear A113 and a fourth primary driving executing gear A114 which are matched at the tail end of a first executing joint A1 are sequentially reduced; the diameters of the first primary driven executing gear A221, the second primary driven executing gear A222 and the third primary driven executing gear A223 which are matched at the head end of the second executing joint A2 are sequentially reduced; the first primary transition executing gear D11, the second primary transition executing gear D12, the third primary transition executing gear D13 and the fourth primary transition executing gear D14 are coaxially overlapped together in sequence and the diameters of the first primary transition executing gear D11, the second primary transition executing gear D12, the third primary transition executing gear D13 and the fourth primary transition executing gear D14 are sequentially decreased in a descending manner; the diameters of the first two-stage driving executing gear A211, the second two-stage driving executing gear A212 and the third two-stage driving executing gear A213 which are matched at the tail end of the second executing joint A2 are sequentially reduced, the diameters of the first two-stage driven executing gear A321 and the second two-stage driven executing gear A322 which are matched at the head end of the third executing joint A3 are sequentially reduced, and the first two-stage transition executing gear E11, the second two-stage transition executing gear E12 and the third two-stage transition executing gear E13 are sequentially coaxially overlapped and are sequentially reduced in diameter.

Referring to fig. 3, 5, 8 and 9, in the operating arm 12, the tail end of a first operating joint B1 is hinged with the head end of a second operating joint B2 through a first hinge shaft F, and the tail end of the first operating joint B1 is matched with four primary driving operating gears B11 which are coaxially stacked together in sequence; four primary transitional operation gears F1 are sleeved on the first hinge shaft F, the first primary transitional operation gear F11, the second primary transitional operation gear F12, the third primary transitional operation gear F13 and the fourth primary transitional operation gear F14 are respectively vertically meshed with the first primary driving operation gear B111, the second primary driving operation gear B113, the third primary driving operation gear B113 and the fourth primary driving operation gear B114 in a one-to-one correspondence manner, and the first primary transitional operation gear F11 is fixedly connected with the head end of the second operation joint B2 so that when the second operation joint B2 rotates relative to the first operation joint B1, the first primary transitional operation gear F1 drives the first primary driving operation gear B111 to rotate; the head end of the second operating joint B2 is matched with three primary driven operating gears B22 which are coaxially overlapped in sequence, the first primary driven operating gear B221, the second primary driven operating gear B222 and the third primary driven operating gear B223 are vertically meshed with the second primary transition operating gear F12, the third primary transition operating gear F13 and the fourth primary transition operating gear F14 in a one-to-one correspondence mode respectively, and therefore the second primary driving operating gear B112 to the fourth primary driving operating gear B114 and the first primary driven operating gear B221 to the third primary driven operating gear B223 can rotate synchronously respectively; the tail end of the second operating joint B2 is hinged with the head end of the third operating joint B3 through a second hinge shaft G, and the second hinge shaft G is perpendicular to the first hinge shaft F so that the rotating central axis of the third operating joint B3 is perpendicular to the rotating central axis of the second operating joint B2; the tail end of the second operating joint B2 is matched with three secondary driving operating gears B21 which are coaxially stacked together in sequence, the first secondary driving operating gear B211, the second secondary driving operating gear B212 and the third secondary driving operating gear B213 are respectively in one-to-one correspondence coaxial connection with the first primary driven operating gear B221, the second primary driven operating gear B222 and the third primary driven operating gear B223, so that the first secondary driving operating gear B211 to the third secondary driving operating gear B213 and the first primary driven operating gear B221 to the third primary driven operating gear B223 respectively rotate synchronously; three second-stage transitional operation gears G1 are sleeved on the second hinge shaft G, the first second-stage transitional operation gear G11, the second-stage transitional operation gear G12 and the third second-stage transitional operation gear G13 are respectively vertically meshed with the first second-stage driving operation gear B211, the second-stage driving operation gear B212 and the third second-stage driving operation gear B213 in a one-to-one correspondence manner, and the first second-stage transitional operation gear G11 and the head end of the third operation joint B3 are fixedly connected so that when the third operation joint B3 rotates relative to the second operation joint B2, the first second-stage driving operation gear B211 and the first second-stage transitional operation gear G11 rotate synchronously; the head end of the third operating joint B3 is matched with two secondary driven operating gears B32 which are coaxially stacked together in sequence, the first secondary driven operating gear B321 and the second secondary driven operating gear B322 are vertically meshed with the second secondary transition operating gear G12 and the third secondary transition operating gear G13 in a one-to-one correspondence mode respectively, and therefore the second secondary driving operating gear B212 and the third secondary driving operating gear B213 can rotate synchronously with the first secondary driven operating gear B321 and the second secondary driven operating gear B322 respectively; an operation rotating rod B331 coaxially connected with a first secondary driven operation gear B321 at the head end of a third operation joint B3 is rotatably matched in the third operation joint B3, the operation rotating rod B331 is fixedly connected with the handheld part 2, the handheld part 2 can rotatably operate the operation rotating rod B331, an opening and closing operation rod B332 coaxially connected with a second secondary driven operation gear B322 is arranged in the operation rotating rod B331, and the handheld part 2 can rotatably open and close the operation rod B332.

The diameters of a first primary driving operation gear B111, a second primary driving operation gear B112, a third primary driving operation gear B113 and a fourth primary driving operation gear B114 which are matched at the tail end of a first operation joint B1 are sequentially reduced; the diameters of the first primary driven operation gear B221, the second primary driven operation gear B222 and the third primary driven operation gear B223 which are matched at the head end of the second operation joint B2 are sequentially reduced; the first primary transitional operation gear F11, the second primary transitional operation gear F12, the third primary transitional operation gear F13 and the fourth primary transitional operation gear F14 are coaxially overlapped together in sequence and have diameters which are gradually decreased in sequence; the diameters of the first two-stage driving operation gear B211, the second two-stage driving operation gear B212 and the third two-stage driving operation gear B213 which are matched at the tail end of the second operation joint B2 are sequentially reduced; the diameters of the first secondary driven operating gear B321 and the second secondary driven operating gear B322 which are matched at the head end of the third operating joint B3 are sequentially reduced; the first secondary transitional operation gear G11, the second secondary transitional operation gear G12 and the third secondary transitional operation gear G13 are coaxially stacked in sequence and have successively decreasing diameters.

Referring to fig. 5-9, the first primary active operating gear B111, the second primary active operating gear B112, the third primary active operating gear B113 and the fourth primary active operating gear B114 at the end of the first operating joint B1 are in one-to-one corresponding synchronous transmission connection with the first primary active executing gear a111, the second primary active executing gear a112, the third primary active executing gear a113 and the fourth primary active executing gear a114 at the end of the first executing joint A1, respectively; thus, the joints a of the executing arm 11 correspond to the joints B of the operating arm 12 one by one, so that when the operating arm 12 acts, the executing arm 11 synchronously imitates the movement of the operating arm 12 and correspondingly moves to realize copying operation; for example, when the operation lever B331 of the operation arm 12 is rotated, the execution lever a331 of the execution arm 11 is synchronously rotated; the second operating joint B2 of the operating arm 12 rotates relative to the first operating joint B1, and the second executing joint A2 of the executing arm 11 simultaneously rotates relative to the first executing joint A1; when the opening/closing operation lever B332 of the operation arm 12 is rotated, the opening/closing operation lever a332 of the operation arm 11 is synchronously rotated; therefore, when the user only needs to manually operate the operating arm 12 to make the operating arm 12 move, the operating arm 12 can synchronously drive the executing arm 11 to move correspondingly, the executing arm 11 and the operating arm 12 are in transmission fit in a gear nesting transmission mode, manual direct profiling operation can be realized, and high-precision movement can be realized.

The execution arm 11 and the operation arm 12 of the surgical mechanical arm 1 can be connected through a connecting arm 13; two ends of the connecting arm 13 are respectively and vertically connected with the head end of the first executing joint A1 of the executing arm 11 and the head end of the first operating joint B1 of the operating arm 12; the head end of the first executing joint A1 is matched with five connecting executing gears A12 which are coaxially overlapped in sequence and have diameters decreasing in sequence, the first connecting executing gear A121 at the head end of the first executing joint A1 is fixedly connected with the head end of the first executing joint A1, the second connecting executing gear A122, the third connecting executing gear A123, the fourth connecting executing gear A124 and the fifth connecting executing gear A125 at the head end of the first executing joint A1 are respectively in one-to-one coaxial connection with the first primary driving executing gear A111, the second primary driving executing gear A112, the third primary driving executing gear A113 and the fourth primary driving executing gear A114 at the tail end of the first executing joint A1; the head end of the first operating joint B1 is matched with five connecting operating gears B12 which are coaxially stacked together in sequence and have diameters decreasing in sequence, the first connecting operating gear B121 at the head end of the first operating joint B1 is fixedly connected with the head end of the first operating joint B1, the second connecting operating gear B122, the third connecting operating gear B123, the fourth connecting operating gear B124 and the fifth connecting operating gear B125 at the head end of the first operating joint B1 are respectively in one-to-one coaxial connection with the first primary active operating gear B111, the second primary active operating gear B112, the third primary active operating gear B113 and the fourth primary active operating gear B114 at the tail end of the first operating joint B1; the two ends of the connecting arm 13 are respectively matched with five connecting gears C1 which are coaxially overlapped in sequence and have successively decreasing diameters, and the first connecting gear to the fifth connecting gear at one end of the connecting arm 13 are respectively in one-to-one corresponding coaxial connection with the first connecting gear to the fifth connecting gear at the other end of the connecting arm 13; the first connecting gear to the fifth connecting gear at one end of the connecting arm 13 are vertically meshed with the first connecting executing gear A121 to the fifth connecting executing gear A125 at the head end of the first executing joint A1 in a one-to-one correspondence manner, and the first connecting gear to the fifth connecting gear at the other end of the connecting arm 13 are vertically meshed with the first connecting operating gear B121 to the fifth connecting operating gear B125 at the head end of the first operating joint B1 in a one-to-one correspondence manner, so that the first primary driving operating gear B111 to the fourth primary driving operating gear B114 at the tail end of the first operating joint B1 are in one-to-one correspondence synchronous transmission connection with the first primary driving executing gear A111 to the fourth primary driving executing gear A114 at the tail end of the first executing joint A1; the actuator arm 11 and the operating arm 12 are located on the same side of the connecting arm 13.

Referring to fig. 5-7, the first executing joint A1 is rotatably fitted with four first-stage hollow executing shafts a13 which are sequentially inserted from outside to inside, two ends of the first-stage hollow executing shaft a131 are respectively connected with the second connecting executing gear a122 and the first-stage active executing gear a111, two ends of the second first-stage hollow executing shaft a132 are respectively connected with the third connecting executing gear a123 and the second first-stage active executing gear a112, two ends of the third first-stage hollow executing shaft a133 are respectively connected with the fourth connecting executing gear a124 and the third first-stage active executing gear a113, two ends of the fourth first-stage hollow executing shaft a134 are respectively connected with the fifth connecting executing gear a125 and the fourth first-stage active executing gear a114, thus, the second connecting executing gear a122 to the fifth connecting executing gear a125 are respectively and coaxially connected with the first primary driving executing gear a111 to the fourth primary driving executing gear a114 in a one-to-one correspondence manner through four primary hollow executing rotating shafts a 13; three second-stage hollow execution rotating shafts A23 which are sequentially sleeved from outside to inside are rotatably matched in the second execution joint A2, two ends of a first second-stage hollow execution rotating shaft A231 are respectively connected with a first-stage driven execution gear A221 and a first second-stage driving execution gear A211, two ends of a second-stage hollow execution rotating shaft A232 are respectively connected with a second first-stage driven execution gear A222 and a second-stage driving execution gear A212, two ends of a third second-stage hollow execution rotating shaft A233 are respectively connected with a third first-stage driven execution gear A223 and a third second-stage driving execution gear A213, and therefore the first-stage driven execution gear A221 to the third-stage driven execution gear A223 are respectively and correspondingly and coaxially connected with the first second-stage driving execution gear A211 to the third-stage driving execution gear A213 through three second-stage hollow execution rotating shafts A23.

Referring to fig. 5, 8 and 9, the first operating joint B1 is rotatably fitted with four first-stage hollow operating shafts B13 which are sequentially inserted from outside to inside, two ends of the first-stage hollow operating shaft B131 are respectively connected with the second connecting operating gear B122 and the first-stage driving operating gear B111, two ends of the second first-stage hollow operating shaft B132 are respectively connected with the third connecting operating gear B123 and the second first-stage driving operating gear B112, two ends of the third first-stage hollow operating shaft B133 are respectively connected with the fourth connecting operating gear B124 and the third first-stage driving operating gear B113, two ends of the fourth first-stage hollow operating shaft B134 are respectively connected with the fifth connecting operating gear B125 and the fourth first-stage driving operating gear B114, thus, the second connecting operation gear B122 to the fifth connecting operation gear B125 are respectively coaxially connected with the first primary driving operation gear B111 to the fourth primary driving operation gear B114 one to one by four primary hollow operation rotating shafts B13; three second-stage hollow operating rotating shafts B23 which are sequentially sleeved from outside to inside are rotatably matched in the second operating joint B2, two ends of the first second-stage hollow operating rotating shaft B231 are respectively connected with the first-stage driven operating gear B221 and the first second-stage driving operating gear B211, two ends of the second-stage hollow operating rotating shaft B232 are respectively connected with the second first-stage driven operating gear B222 and the second-stage driving operating gear B212, two ends of the third second-stage hollow operating rotating shaft B233 are respectively connected with the third first-stage driven operating gear B223 and the third second-stage driving operating gear B213, and therefore the first-stage driven operating gear B221 to the third-stage driven operating gear B223 are respectively in one-to-one coaxial connection with the first-stage driving operating gear B211 to the third-stage driving operating gear B213 through the three second-stage hollow operating rotating shafts B23.

Referring to fig. 7 and 8, the first connecting gear to the fifth connecting gear at one end of the connecting arm 13 are respectively and coaxially connected with the first connecting gear to the fifth connecting gear at the other end of the connecting arm 13 in a one-to-one correspondence manner through five hollow connecting rotating shafts C2 which are rotatably arranged in the connecting arm and sequentially penetrate from outside to inside.

Referring to fig. 6 to 10, the opening and closing performing lever a332, each secondary driven performing gear a32, each secondary driving performing gear a21, each primary driven performing gear a22, each primary driving performing gear a11, each connecting performing gear a12, each connecting gear C1, each connecting operating gear B12, each primary driving operating gear B11, each primary driven operating gear B22, each secondary driving operating gear B21, each secondary driven operating gear B32, and the opening and closing operating lever B332 are all hollow structures, so that each primary hollow operating rotating shaft B13, each secondary hollow operating rotating shaft B23, each hollow operating rotating shaft C2, each primary hollow performing rotating shaft a13, each secondary hollow performing rotating shaft a23 are added, so that a passage is formed in the surgical robot arm 1 to pass through the power supply line 6; one end of the power supply line 6 is connected with the surgical forceps 3, and the other end thereof can pass through the opening and closing actuating rod A332, each two-stage driven actuating gear A32, each two-stage driving actuating gear A21, the innermost two-stage hollow actuating rotating shaft A233 in the second actuating joint A2, each one-stage driven actuating gear A22, each one-stage driving actuating gear A11, the innermost one-stage hollow actuating rotating shaft A134 in the first actuating joint A1, each connecting actuating gear A12, each connecting gear C1 at one end of the connecting arm 13, the innermost hollow connecting rotating shaft C2 in the connecting arm 13, each connecting gear C1 at the other end of the connecting arm 11, each connecting operating gear B12, the innermost one-stage hollow operating rotating shaft B134 in the first operating joint B1, each one-stage driving operating gear B11, each one-stage driven operating gear B22, the innermost two-stage hollow operating rotating shaft B233 in the second operating joint B2, each two-stage driving operating gear B35, each two-stage operating gear B21, Each secondary driven operation gear B32 passes through the opening and closing operation rod B332 and is connected with the hand-held part 2, so that the hand-held part 2 controls the power supply or the power off of the surgical clamp 3 through the power supply line 6.

Referring to fig. 6, the surgical forceps 3 includes a first mounting seat 31 connected to an execution rotation rod a331, a worm 34 coaxially connected to an opening/closing execution rod a332, a first forceps body 32, and a second forceps body 33; the first clamp body 32 is hinged with the first mounting seat 31; the second clamp body 33 is hinged with the first mounting seat 31; the first clamp body 32 and the second clamp body 33 are both provided with a turbine 35 matched with the worm 34; the rotating shaft of the turbine 35 on the first clamp body 32 is the same as the articulated shaft of the first clamp body 32; the rotating shaft of the turbine 35 on the second clamp body 33 is the same as the hinge shaft of the second clamp body 33.

The handheld part 2 includes a third mounting seat 21, a handle 22, a third connecting rod 23, an opening and closing rack 24, an opening and closing operation gear 25, and a control button 27, which are described with reference to fig. 10; one end of the handle 22 is hinged with the third mounting seat 21, and the other end of the handle is provided with a finger hole 26; the provision of finger holes 26 allows the operator to conveniently control the movement of handle 22; one end of the third connecting rod 23 is hinged with the handle 22, and the other end is hinged with the opening and closing rack 24; the opening and closing operation gear 25 is arranged in the third mounting seat 21 and is coaxially connected with the opening and closing operation rod B332; the opening and closing rack 24 and the opening and closing operation gear 25 are matched and can slide on the third mounting seat 21; the control button 27 is arranged on the third mounting seat 21 and is connected with the power supply line 6; by controlling the control button 27 of the hand-held part 2, the power supply or the power off of the forceps 3 can be controlled through the power supply line 6.

In the embodiment 1, when the opening and closing of the surgical forceps are controlled, an operator controls the handle 22 of the handheld portion 2 to move, that is, the third connecting rod 23 can drive the opening and closing rack 24 to slide along the third mounting seat 21, so as to drive the opening and closing operation gear 25 to rotate, the rotation of the opening and closing operation gear 25 is transmitted to the worm 34 of the surgical forceps 2 through the gear nesting transmission inside the operation arm 12, the connecting arm 13 and the execution arm 11, the worm 34 rotates to drive the turbine 35 to rotate, so as to drive the first forceps body 32 and the second forceps body 33 to rotate, and the opening and closing of the surgical forceps 2 are controlled.

Example 2

Referring to fig. 11 to 13, a hand-held multi-degree-of-freedom laparoscope, embodiment 2 differs from embodiment 1 in the forceps 4 and the hand-held portion 5.

Referring to fig. 12, the surgical forceps 4 includes a second mounting seat 41 connected to the actuation rotation rod, a lead screw 44 coaxially connected to the opening/closing actuation rod a332, a third forceps body 42 hinged to the second mounting seat 41, a fourth forceps body 43 hinged to the second mounting seat 41, and a slider nut 45 slidably fitted in the second mounting seat 41; the sliding block nut 45 is respectively connected with the third caliper body 42 and the fourth caliper body 43 through a first connecting rod 46 and a second connecting rod 47, two ends of the first connecting rod 46 are respectively hinged with the sliding block nut 45 and the third caliper body 42, two ends of the second connecting rod 47 are respectively hinged with the sliding block nut 45 and the fourth caliper body 43, and the sliding block nut 45 is matched with the screw rod 44; the slider nut 45 is used for driving the third caliper body 42 and the fourth caliper body 43 to open and close.

Referring to fig. 10 and 13, the difference between the handle 5 and the handle 2 in embodiment 1 is that the handle 5 is provided with two handles 22 in parallel and opposite to each other, and two third connecting rods 23 and two opening and closing racks 24 are correspondingly provided, so that the operator can control the handle 5 with two fingers.

In the embodiment 2, when the opening and closing of the surgical forceps are controlled, the operator controls the handle 22 of the handheld portion 5 to move, i.e., the opening and closing rack 24 can be driven by the third connecting rod 23 to slide along the third mounting seat 21, and then the opening and closing operation gear 25 is driven to rotate, the rotation of the opening and closing operation gear 25 is transmitted to the lead screw 44 of the surgical forceps 4 through the gear nesting transmission inside the operation arm 12, the connecting arm 13 and the execution arm 11, the rotation of the lead screw 44 drives the slider nut 45 to slide up and down, and then the third forceps body 42 and the fourth forceps body 43 are driven by the first connecting rod 46 and the second connecting rod 47 to rotate, so that the opening and closing of the surgical forceps 4.

It should be noted that when n =2, the actuating arm 11 can control the

forceps

3, 4 to implement one degree of freedom of oscillation and two degrees of freedom of rotation.

When n is more than or equal to 3, the connecting shafts at the hinged parts between the adjacent executing joints of the executing arm 11 can be mutually vertical, can also be mutually parallel, and can also be mutually oblique; the executing arm 11 can control the

surgical clamps

3 and 4 to realize n-1 swinging freedom degrees and two rotation freedom degrees.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.

Claims

1. A hand-held multi-degree-of-freedom laparoscope is characterized by comprising surgical forceps, a surgical mechanical arm and a hand-held part;

the opening and closing of the surgical forceps are controlled by an opening and closing execution rod;

the surgical mechanical arm comprises an execution arm and an operation arm; the execution arm comprises n execution joints, n is an integer greater than or equal to 2, i is an integer from 1 to n-1, and j is an integer from 1 to n-2; the tail end of the ith execution joint is hinged with the head end of the (i + 1) th execution joint through an ith connecting shaft; the tail end of the ith execution joint is matched with n-i +2 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +2 i-stage transition executing gears are sleeved on the ith connecting shaft, and the first i-stage transition executing gear to the (n-i + 2) th i-stage transition executing gear is vertically meshed with the first i-stage driving executing gear to the (n-i + 2) th i-stage driving executing gear in a one-to-one corresponding mode respectively; the first i-stage transition execution gear is fixedly connected with the head end of the (i + 1) th execution joint; the head end of the (i + 1) th execution joint is matched with n-i +1 i-stage driven execution gears which are sequentially and coaxially stacked together, and the first i-stage driven execution gear to the (n-i + 1) th i-stage driven execution gear and the second i-stage transition execution gear to the (n-i + 2) th i-stage transition execution gear are respectively and correspondingly vertically meshed one by one; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j + 1) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j + 1) th j-stage driven execution gear in a one-to-one correspondence mode; the first n-1 stage driven execution gear at the head end of the nth execution joint is coaxially connected with an execution rotating rod, the execution rotating rod is rotatably matched with the nth execution joint, the other end of the execution rotating rod is fixedly connected with an operating forceps, and the second n-1 stage driven execution gear at the head end of the nth execution joint is coaxially connected with the opening and closing execution rod;

the operating arm comprises n operating joints, wherein the tail end of the ith operating joint is hinged with the head end of the (i + 1) th operating joint through an ith hinge shaft, and n-i +2 i-stage driving operating gears which are sequentially and coaxially stacked together are matched with the tail end of the ith operating joint; n-i +2 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the n-i +2 i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the n-i +2 i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the i +1 th operation joint; the head end of the (i + 1) th operating joint is matched with n-i +1 i-stage driven operating gears which are sequentially and coaxially stacked together, and the first i-stage driven operating gear to the (n-i + 1) th i-stage driven operating gear and the second i-stage transitional operating gear to the (n-i + 2) th i-stage transitional operating gear are respectively and correspondingly vertically meshed one by one; the first i + 1-stage driving operating gear at the tail end of the (i + 1) th operating joint to the (n-i + 1) th i + 1-stage driving operating gear are respectively and correspondingly and coaxially connected with the first i-stage driven operating gear at the head end of the (i + 1) th operating joint to the n-i +1 i-stage driven operating gear in a one-to-one correspondence mode; the first n-1 stage driven operating gear at the head end of the nth operating joint is coaxially connected with an operating rotating rod, the operating rotating rod is rotatably matched with the nth operating joint, the other end of the operating rotating rod is fixedly connected with the handheld part, and the second n-1 stage driven executing gear at the head end of the nth operating joint is coaxially connected with an opening and closing operating rod; the opening and closing operating rod is connected with the handheld part and is controlled by the handheld part;

the first primary driving operation gear to the (n + 1) th primary driving operation gear at the tail end of the first operation joint and the first primary driving execution gear to the (n + 1) th primary driving execution gear at the tail end of the first execution joint are in one-to-one corresponding synchronous transmission connection respectively.

2. The hand-held multi-degree of freedom laparoscope of claim 1 wherein the diameters of the first i-stage active execution gear to the (n-i + 2) th i-stage active execution gear decrease sequentially; the first i-stage transition execution gear and the (n-i + 2) th i-stage transition execution gear are coaxially stacked together in sequence and the diameters of the transition execution gears are sequentially reduced; the diameters of the first i-stage driven execution gear to the (n-i + 1) th i-stage driven execution gear are sequentially reduced;

the diameters of the first i-stage driving operation gear to the n-i +2 i-stage driving operation gear are sequentially reduced; the first i-stage transition operating gear to the (n-i + 2) th i-stage transition operating gear are coaxially stacked together in sequence, and the diameters of the transition operating gears are sequentially reduced; the diameters of the first i-stage driven operating gear to the (n-i + 1) th i-stage driven operating gear are sequentially reduced.

3. The hand-held multi-degree-of-freedom laparoscope as recited in claim 2, wherein the manipulator arm and the execution arm of the surgical robotic arm are connected by a connecting arm; two ends of the connecting arm are respectively and vertically connected with the head end of the first executing joint of the executing arm and the head end of the first operating joint of the operating arm; the execution arm and the operation arm are positioned on the same side of the connecting arm;

the head end of the first executing joint is matched with n +2 connecting executing gears which are coaxially stacked together in sequence and have diameters which are sequentially reduced in a descending manner, the first connecting executing gear at the head end of the first executing joint is fixedly connected with the head end of the first executing joint, and the second connecting executing gear from the head end of the first executing joint to the (n + 2) th connecting executing gear is respectively in one-to-one coaxial connection with the first primary driving executing gear to the (n + 1) th primary driving executing gear at the tail end of the first executing joint;

the head end of the first operating joint is matched with n +2 connecting operating gears which are coaxially stacked together in sequence and have diameters which are sequentially reduced in a descending manner, the first connecting operating gear at the head end of the first operating joint is fixedly connected with the head end of the first operating joint, and the second connecting operating gear to the (n + 2) th connecting operating gear at the head end of the first operating joint is respectively in one-to-one coaxial connection with the first primary active operating gear to the (n + 1) th primary active operating gear at the tail end of the first operating joint;

the two ends of the connecting arm are respectively matched with n +2 connecting gears which are coaxially stacked together in sequence and have diameters decreasing in sequence, and the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm are respectively and correspondingly and coaxially connected with the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm in a one-to-one correspondence mode; the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm and the first connecting executing gear to the (n + 2) th connecting executing gear at the head end of the first executing joint are vertically meshed in a one-to-one correspondence mode respectively, and the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm and the first connecting operating gear to the (n + 2) th connecting operating gear at the head end of the first operating joint are vertically meshed in a one-to-one correspondence mode respectively.

4. The hand-held multi-degree-of-freedom laparoscope as recited in claim 3, wherein the j + 1-th stage driving execution gear at the end of the j + 1-th execution joint is connected to the j + 1-th stage driving execution gear at the end of the j + 1-th execution joint through a j + 1-th hollow execution rotating shaft which is rotatably arranged in the j + 1-th execution joint and sequentially penetrates through the j + 1-th hollow execution rotating shaft from outside to inside, and the j + 1-th stage driven execution gear at the end of the j + 1-th execution joint is respectively connected to the n-j + 1-th stage driven execution gear at the end of the j + 1-th execution joint in a one-to-one-to;

the second to the (n + 2) th connecting executing gears at the head end of the first executing joint are respectively and correspondingly and coaxially connected with the first to the (n + 1) th primary driving executing gears at the tail end of the first executing joint in a one-to-one correspondence mode through n +1 primary hollow executing rotating shafts which are rotatably arranged in the first executing joint and are sequentially sleeved from outside to inside;

the first j + 1-stage driving operation gear at the tail end of the j +1 th operation joint to the j + 1-stage driving operation gear of the n-j +1 th operation joint are respectively and correspondingly and coaxially connected with the j + 1-stage hollow operation rotating shaft, the first j + 1-stage hollow operation rotating shaft is rotatably arranged in the j + 1-th operation joint, the j + 1-stage hollow operation rotating shaft penetrates through the j + 1-stage hollow operation rotating shaft from outside to inside in sequence, and the first j-stage driven operation gear to the n-j + 1-stage driven operation gear at the head end of the j + 1-th operation joint are respectively and coaxially connected;

the second to the (n + 2) th connecting operation gears at the head end of the first operation joint are respectively and correspondingly and coaxially connected with the first to the (n + 1) th primary driving operation gears at the tail end of the first operation joint in a one-to-one correspondence mode through n +1 primary hollow operation rotating shafts which are rotatably arranged in the first operation joint and penetrate through the first to the (n + 1) th connecting operation gears in sequence from outside to inside;

the first connecting gear to the (n + 2) th connecting gear at one end of the connecting arm are respectively in one-to-one correspondence coaxial connection with the (n + 2) th connecting gear through a hollow connecting rotating shaft which is rotatably arranged in the connecting arm and penetrates through the (n + 2) th connecting gear from outside to inside in sequence and the first connecting gear to the (n + 2) th connecting gear at the other end of the connecting arm.

5. The hand-held, multiple degree of freedom laparoscope as recited in claim 4 wherein the forceps have power supply wires attached thereto; the opening and closing actuating rod, each i-stage driving actuating gear, each i-stage driven actuating gear, each connecting operating gear, each i-stage driven operating gear, each i-stage driving operating gear and the opening and closing actuating rod are all hollow structures;

one end of the power supply line is connected with the operating forceps, and the other end of the power supply line penetrates through the opening and closing actuating rod, each i-stage driving actuating gear, the innermost i-stage hollow actuating rotating shaft in the ith actuating joint, each i-stage driven actuating gear, each connecting gear, the innermost hollow connecting rotating shaft in the connecting arm, each connecting operating gear, each i-stage driven operating gear, the innermost i-stage hollow operating rotating shaft in the ith actuating joint, each i-stage driving operating gear and the opening and closing operating rod and then penetrates out of the opening and closing operating rod to be connected with the handheld part.

6. The hand-held multi-degree-of-freedom laparoscope as recited in claim 5, wherein the surgical forceps comprise a first mounting base connected to the actuating rotating rod, a worm coaxially connected to the opening/closing actuating rod, a first forceps body, and a second forceps body; the first clamp body is hinged with the first mounting seat; the second clamp body is hinged with the first mounting seat; the first clamp body and the second clamp body are respectively provided with a turbine matched with the worm; the rotating shaft of the turbine on the first clamp body is the same as the hinged shaft of the first clamp body; the rotating shaft of the turbine on the second clamp body is the same as the hinged shaft of the second clamp body.

7. The hand-held multi-degree-of-freedom laparoscope as recited in claim 5, wherein the surgical forceps comprise a second mounting seat connected with the actuating rotating rod, a lead screw coaxially connected with the opening and closing actuating rod, a third forceps body hinged with the second mounting seat, a fourth forceps body hinged with the second mounting seat, and a slider nut slidably fitted in the second mounting seat; the sliding block nut is respectively connected with the third clamp body and the fourth clamp body through a first connecting rod and a second connecting rod, two ends of the first connecting rod are respectively hinged with the sliding block nut and the third clamp body, two ends of the second connecting rod are respectively hinged with the sliding block nut and the fourth clamp body, and the sliding block nut is matched with the screw rod; the sliding block nut is used for driving the third clamp body and the fourth clamp body to open and close.

8. The hand-held multi-degree-of-freedom laparoscope as recited in any one of claims 6-7, wherein the hand-held part comprises a third mounting seat, a handle, a third connecting rod, an opening and closing rack, an opening and closing operation gear and a control button; one end of the handle is hinged with the third mounting seat, and the other end of the handle is provided with a finger hole; one end of the third connecting rod is hinged with the handle, and the other end of the third connecting rod is hinged with the opening and closing rack; the opening and closing operation gear is arranged in the third mounting seat and is coaxially connected with the opening and closing operation rod; the opening and closing rack is matched with the opening and closing operation gear and can slide on the third mounting seat; the control button is arranged on the third mounting seat and is connected with the power supply line.