CN115153758A

CN115153758A - Universal forceps for minimally invasive surgery

Info

Publication number: CN115153758A
Application number: CN202210783758.1A
Authority: CN
Inventors: 常源; 寇文辉; 肖小海
Original assignee: Taizhou Youhe Medical Technology Co ltd
Current assignee: Taizhou Youhe Medical Technology Co ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-10-11

Abstract

The invention relates to universal forceps for minimally invasive surgery, which comprise a tail end executing mechanism for re-carving actions of an operator and a handle structure for controlling the tail end executing mechanism, wherein connecting chains are arranged on two sides of the bottom end of a directional ring structure and two sides of the tail end of the handle structure, a plurality of steel cables are arranged on the front end surface of the tail end executing mechanism, the front end of the tail end executing mechanism is connected with an extension pipe, the plurality of steel cables penetrate through the extension pipe, a hard hose channel is arranged between the extension pipe and the handle structure, and bent frames are arranged at the front end of the extension pipe and the top of the directional ring structure. The invention controls the rotation of the control actuating mechanism and the shunting control of the steel cable of the switch through the cable separating structure, so that a doctor can execute actions with larger amplitude with less force in the operation process, and the hand feeling of the doctor is finer and smoother. Due to the design of the universal shaft, the actuating mechanism can reach more dead angles. In addition, the sleeve structure at the innovative wiring mode handle makes the whole turnover of the jaw possible, and greatly enriches the action of the jaw.

Description

Universal forceps for minimally invasive surgery

Technical Field

The invention relates to the technical field of medical instruments, in particular to a universal clamp for minimally invasive surgery.

Background

In minimally invasive endoscopic surgery, it is often necessary to clip, trim, clamp, suture, tissue or instruments from within a body cavity. At present, minimally invasive surgery in surgical operations becomes the mainstream of the current surgery, and has the characteristics of small wound and quick recovery. In the minimally invasive surgery process, surgical instruments need to enter a human body cavity through an endoscope puncture outfit to perform a series of actions such as grabbing and shearing in the surgery process, holding a needle to perform intracavity suturing and the like.

The publication number is CN113925569A, discloses universal pincers for laparoscopic surgery instrument, and the device drives the steel cable through handle mechanism, and the steel cable drives actuating mechanism for actuating mechanism can be carved in the chamber mirror with handle mechanism's action again, makes doctor's action more nimble, can accomplish more actions in the chamber mirror. However, the device only finishes the repeated carving of the handle action, and the action amplitude of the hand of an operator needs to be larger to enable the actuating mechanism to sense the action amplitude in the repeated carving process. In addition, the novel design can realize the integral turnover of the jaw of the instrument through the slight action between the forefinger and the thumb at the handle, and the process is more favorable for the process of holding the needle and suturing in the operation and brings greater convenience to the surgical operation.

Disclosure of Invention

In order to solve the defects in the prior art, the invention provides the universal forceps for minimally invasive surgery, which controls the rotation of the actuating mechanism and the shunting control of the steel cable of the switch through the cable separating structure, so that a doctor can perform actions with larger amplitude with less force in the surgical process in the operating process, and the hand feeling of the doctor is finer and smoother. In addition, the wiring mode and the cable for closing the jaws at the handles adopt a sleeve structure, so that the integral overturning of the jaws in the operation process becomes possible, the suturing action in the operation is realized, and the overturning of tissues becomes an automatic mechanical type.

In order to achieve the purpose, the invention is realized by the following technical scheme: universal pincers for minimal access surgery, including the terminal actuating mechanism who carves the operator action again and control terminal actuating mechanism's handle structure, still including the universal ring structure that is located in front, universal ring structure bottom both sides set up the connecting chain with the terminal both sides of handle structure, terminal actuating structure front end sets up a plurality of steel cables, and is a plurality of the steel cable includes a control cable and a plurality of media line, the extension pipe is connected to terminal actuating mechanism front end, and is a plurality of the steel cable all passes the extension pipe, set up the stereoplasm hose passageway between extension pipe and the handle structure, extension pipe front end and universal ring structure top set up the bent frame, set up branch cable structure in the bent frame, the control cable passes stereoplasm hose passageway and connects handle structure, the media line passes branch cable structure and the universal ring structure connecting chain in the bent frame respectively.

Preferably, the universal ring structure comprises an outer ring, a self-rotating ring is arranged in the outer ring, the self-rotating ring is connected with the outer ring in a sliding mode, an upper rotating ring and a lower rotating ring are arranged in the self-rotating ring, a left rotating ring and a right rotating ring are arranged in the upper rotating ring and the lower rotating ring, and rotating shafts are symmetrically arranged between two adjacent self-rotating ring, the upper rotating ring, the lower rotating ring and the left rotating ring and between two adjacent left rotating ring and the right rotating ring.

Preferably, the cable distributing structure comprises a plurality of groups of fixed pulleys arranged at intervals, two groups of cylindrical pins are arranged above the fixed pulley close to one end of the universal ring, a wire outlet groove is formed at the joint of the bent frame and the universal ring structure, and the medium wire sequentially penetrates through the plurality of groups of fixed pulleys, the two groups of cylindrical pins, the last group of fixed pulleys and the wire outlet groove.

Preferably, the executing mechanism comprises a first jaw and a second jaw which are positioned at the tail ends, a through groove is formed in the front end of the first jaw, the second jaw is L-shaped, one end of the second jaw is arranged in the through groove, a rotating rod is arranged in the part, located in the through groove, of the second jaw, penetrates through the second jaw to be rotatably connected with the first jaw, a torsion spring is arranged on the rotating rod, the front end of the first jaw is connected with a medium line, and the control line penetrates through the front end of the first jaw and the through groove to be connected with the tail end of the first jaw.

Preferably, the handle structure comprises a handle, a knob is arranged at the tail end of the handle and connected with the connecting chain, a push-pull structure is arranged in the handle, a trigger is arranged at the lower end of the handle, and the trigger controls the actuating mechanism through the push-pull structure.

Preferably, the push-pull structure comprises a pulling block arranged in the handle, a return spring is sleeved on the pulling block, an L-shaped positioning block is arranged at the front end of the pulling block, the control wire penetrates through a connecting block to be connected with the front end of the positioning block, one end, far away from the pulling block, of the positioning block is connected with a connecting rod, the vertical angle of the positioning block is rotatably connected with the handle, the positioning block drives the connecting rod to push the pulling block to move through a trigger, and the pulling block is fixedly connected with the knob and rotatably connected with the handle.

As optimization, universal ring constructs the surface and sets up a plurality of recesses, universal ring constructs and is connected through the dwang rotation with the connecting chain, handle structure and connecting chain fixed connection, the media line is worn out and is arranged in respectively behind the bent frame and be connected with the dwang in a plurality of recesses.

As an optimization, set up a plurality of groups of cardan shafts between extension pipe and the actuating mechanism, the cardan shaft includes two connecting plates, the connecting plate sets up a plurality of through-holes that supply the steel cable to pass, the tip bilateral symmetry of connecting plate one side sets up the rotor plate, the tip bilateral symmetry of opposite side sets up the rotor plate, the preceding tip longitudinal symmetry of actuating mechanism sets up the rotor plate, the extension pipe rear end bilateral symmetry sets up the rotor plate, all realize rotating through the rotation axis connection rotor plate between actuating mechanism and the connecting plate, between connecting plate and the connecting plate and between connecting plate and the extension pipe.

Preferably, the left rotating ring and the right rotating ring are C-shaped, the two ends of the left rotating ring and the two ends of the right rotating ring are both provided with connecting rings, and a wrist strap is arranged between the two connecting rings

Preferably, the surface of the end of the first jaw, which faces the end of the second jaw, is provided with saw-toothed protrusions.

Compared with the prior art, the invention has the beneficial effects that:

1. this device is driving the steel cable through handle mechanism, the steel cable drives actuating mechanism, make actuating mechanism can carve handle mechanism's action again in the chamber mirror, make doctor's action more nimble, when can accomplish more actions in the chamber mirror, the steel cable that will control actuating mechanism rotation and switch through dividing the cable structure carries out control along separate routes, make the process doctor operation process of operation can carry out action by a greater margin with power still less, doctor's feel more fine and smooth. In addition, the wiring mode and the cable for closing the jaws at the handles adopt a sleeve structure, so that the integral overturning of the jaws in the operation process becomes possible, the suturing action in the operation is realized, and the overturning of tissues becomes an automatic mechanical type.

2. The universal ring structure is composed of a plurality of rings, the rings are connected with each other through rotating shafts in different directions, the wrist is sleeved on the rotating ring at the uppermost position, and the wrist can deflect and rotate in any direction under the condition that the outermost ring is not moved.

3. The revolute pair formed by arranging a plurality of groups of cardan shafts can realize that the jaw is bent towards any direction.

4. The handle can do the same action with smaller force, the doctor can feed back more flexibly the action amplitude of the handle, the doctor can better sense the action force, and more delicate hand feeling can be obtained in the operation process. In addition, the whole jaw of the instrument can be turned over by slight action between the forefinger and the thumb at the handle, and the process is more favorable for the process of holding the needle for suturing in the operation and brings greater convenience for the surgical operation.

5. Due to the design of the universal shaft, the actuating mechanism can reach more dead angles.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a cross-sectional view of FIG. 2 in accordance with the present invention;

FIG. 4 is a front view of the present invention;

FIG. 5 is a right side view of the present invention;

FIG. 6 is an enlarged view of FIG. 2A of the present invention;

FIG. 7 is a cross-sectional view of the third embodiment of the present invention.

Reference numerals shown in the drawings: 1. an actuator; 111. a first jaw; 112. a second jaw; 113. a through groove; 114. a rotating rod; 115. a torsion spring; 2. a handle structure; 21. a handle; 22. a knob; 23. a push-pull structure; 231. a pulling block; 232. a return spring; 233. a connecting rod; 234. positioning blocks; 24. a trigger; 3. a gimbal structure; 31. an outer ring; 32. a left and right rotating ring; 321. a connecting ring; 323. a wristband; 33. an upper and a lower rotation ring; 34. a self-rotating ring; 4. a connecting chain; 5. a wire rope; 51. a steering wire; 52. a medium line; 6. an extension tube; 7. bending the frame; 8. a cable splitting structure; 81. a fixed pulley; 82. a cylindrical pin; 83. an outlet groove; 9. a rigid hose passage; 10. a cardan shaft; 101. a connecting plate; 102. a rotating plate; 11. and (4) a groove.

Detailed Description

The present invention will be further described with reference to specific embodiments, as shown in fig. 1 to 7, which are universal forceps for minimally invasive surgery.

It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

The invention discloses a universal forceps for minimally invasive surgery, which comprises a tail end actuating mechanism 1 for re-carving actions of an operator, a handle structure 2 for controlling the tail end actuating mechanism 1, and a universal ring structure 3 positioned in front, wherein two sides of the bottom end of the universal ring structure 3 and two sides of the tail end of the handle structure 2 are provided with connecting chains 4, the front end surface of the tail end actuating mechanism is provided with a plurality of steel cables 5, the plurality of steel cables 5 comprise a control wire 51 and a plurality of medium wires 52, the actuating mechanism 1 is controlled to be closed and opened by the control wire 51, the actuating mechanism 1 is controlled to rotate by the medium wires 52, the front end of the tail end actuating mechanism 1 is connected with an extension pipe 6, the plurality of steel cables 5 penetrate through the extension pipe 6, a hard hose channel 9 is arranged between the extension pipe 6 and the handle structure 2, the front end of the extension pipe 6 and the top of the universal ring structure 3 are provided with a bent frame 7, set up in the bent frame 7 and divide cable structure 8, the control wire 51 passes stereoplasm hose passageway 9 and connects handle structure 2, medium line 52 passes branch cable structure 8 and the universal ring structure 3 connection connecting link 4 in the bent frame 7 respectively, drive steel cable 5 through handle 21 mechanism, steel cable 5 drives actuating mechanism 1, make actuating mechanism 1 can be carved the action of handle 21 mechanism in the chamber mirror again, make doctor's action more nimble, when can accomplish more actions in the chamber mirror, through dividing cable structure 8 to control actuating mechanism 1 rotation and the steel cable 5 of switch and control along separate routes, the winding phenomenon has been avoided appearing in steel cable 5 in operation process, make the process doctor operation process of operation can use less power to carry out action by a wide margin, doctor's feel more exquisite in the same direction and smooth.

As shown in fig. 1, the present invention is further configured to: the universal ring structure 3 includes outer loop 31, set up in the outer loop 31 from the change 34, from change 34 and outer loop 31 sliding connection, from change 34 in setting up upper and lower change 33, change 32 about setting up in the change 33, from change 34, upper and lower change 33 and control and change equal symmetry between 32 adjacent two of change and set up the pivot, upper and lower change 33 and change 34 between the change set up the pivot, change 32 and upper and lower change 33 between the change set up the pivot by bilateral symmetry, guarantee that the wrist cover is on change 32, under the circumstances that outer loop 31 does not move, the wrist can deflect and the rotation to arbitrary direction.

As shown in fig. 3 and 5, the present invention is further configured to: the cable dividing structure 8 comprises a plurality of groups of fixed pulleys 81 arranged at intervals, a group of fixed pulleys 81 are required to be arranged at the inner corner of the bent frame 7, the phenomenon that a steel cable 5 is wound or broken due to friction in the process of moving on the corner is prevented, two groups of cylindrical pins 82 are arranged above the fixed pulleys 81 close to one end of the universal ring, the steel cables 5 are arranged between the cylindrical pins 82 in a returning mode, one steel cable 5 penetrates through every two cylindrical pins 82, it is guaranteed that a person coming out of the steel cable 5 after being turned is still connected with the fixed pulleys 81, a cable outlet groove 83 is formed in the connection position of the bent frame 7 and the universal ring structure 3, the steel cable 5 is convenient to return, the medium line 52 penetrates through the plurality of groups of fixed pulleys 81, the two groups of cylindrical pins 82, the last group of fixed pulleys 81 and the cable outlet groove 83 in sequence, and the phenomenon that the steel cable 5 is wound in the operation process is avoided.

As shown in fig. 3 and 6, the present invention is further configured to: the actuating mechanism 1 comprises a first jaw 111 and a second jaw 112 which are positioned at tail ends, a through groove 113 is arranged at the front end of the first jaw 111, the second jaw 112 is L-shaped, one end of the second jaw 112 is arranged in the through groove 113, a rotating rod 114 is arranged in a part, positioned in the through groove 113, of the second jaw 112, the rotating rod 114 penetrates through the second jaw 112 to be connected with the first jaw 111 in a rotating mode, a torsion spring 115 is arranged on the rotating rod 114, the front end of the first jaw 111 is connected with a medium line 52, a control line 51 penetrates through the front end of the first jaw 111 and the through groove 113 to be connected with the tail end of the first jaw 111, the medium lines 52 are respectively arranged at four corners of the front end face of the first jaw 111, the control line 51 is arranged at the central position of the four medium lines 52, the handle 21 mechanism drives the medium line 52 to move when rotating, the tail end of the medium line 52 drives the first jaw 111 to rotate, the first jaw 111 drives the whole actuating mechanism 1 to rotate, the handle line 51 of the handle 21 mechanism, the first jaw 51 pulls the first jaw 111 to move, the actuating mechanism to realize the closing of the actuating mechanism 1, and when the handle 21 mechanism, the first jaw 111 rotates, so as to pull the actuating mechanism to realize the normal state of the actuating mechanism, and the actuating mechanism 1, thereby realizing the actuating mechanism 2 pulling action.

As shown in fig. 3, the present invention is further configured to: the handle structure 2 comprises a handle 21, a knob 22 is arranged at the tail end of the handle 21, the knob 22 is connected with a connecting chain 4, the knob 22 can drive the connecting chain 4 to rotate, the connecting chain 4 drives a universal ring structure 3 to rotate, the universal ring structure 3 drives a bent frame 7 to rotate, the bent frame 7 drives an extension pipe 6 to rotate, the extension pipe 6 drives an actuating mechanism 1 to rotate, the integral rotation except the handle 21 is realized, a push-pull structure 23 is arranged in the handle 21, a trigger 24 is arranged at the lower end of the handle 21, the trigger 24 controls the actuating mechanism 1 through the push-pull structure 23, the trigger 24 drives the push-pull structure 23 to move, and the push-pull structure 23 drives a steel cable 5 to move so as to drive the actuating mechanism 1 to move.

As shown in fig. 3, the present invention is further configured to: the push-pull structure 23 includes a pulling block 231 disposed in the handle 21, a return spring 232 is sleeved on the pulling block 231, the return spring 232 facilitates an operator to return the pulling block 231 to the original position when the trigger 24 is released, so as to drive the actuator 1 to return to the original state, an L-shaped positioning block 234 is disposed at the front end of the pulling block 231, the control wire 51 passes through the connecting block and is connected with the front end of the positioning block 234, the control wire 51 is rotatably connected with the pulling block 231, one end of the positioning block 234 away from the pulling block 231 is connected with the connecting rod 233, a vertical angle of the positioning block 234 is rotatably connected with the handle 21, the positioning block 234 drives the connecting rod 233 to push the pulling block 231 to move through the trigger 24, the pulling block 231 is fixedly connected with the knob 22 and rotatably connected with the handle 21, the pulling block 231 inside the handle is driven to rotate together when the knob 22 rotates, so as to avoid a cable twisting phenomenon occurring in the rotating process, the return spring 232 pushes against the pulling block 231 to make the pulling block 231 located at the front end, the control wire 51 in a tight state, so as to pull the actuator 1 to make the actuator 1 in an open state; when the trigger 24 is pressed by hand, the trigger 24 pushes the link 233 to rotate the positioning block 234, and the pulling block 231 moves together with the operating wire 51 toward the end position during the rotation of the positioning block 234, so that the operating wire 51 is loosened and the actuator 1 is closed.

As shown in fig. 5, the present invention is further configured to: the surface of universal ring structure 3 sets up a plurality of recesses 11, universal ring structure 3 passes through the dwang rotation with connecting link 4 and is connected, handle structure 2 and connecting link 4 fixed connection, media line 52 wears out and arranges respectively in a plurality of recesses 11 behind the curved frame 7 and is connected with the dwang, media line 52 wears out behind the curved frame 7, the media line 52 of connecting the actuating mechanism 1 left end is put respectively in recess 11 on universal ring structure 3 right side, the media line 52 of connecting the actuating mechanism 1 right-hand member is arranged respectively in the left recess 11 of universal ring structure 3, the operator passes through handle structure 2 pulling media line 52, when handle structure 2 end rotates right, the left connecting link 4 of universal ring structure 3 takes place to rotate, thereby the left media line 52 of universal ring structure 3 removes, thereby the left media line 52 of actuating mechanism 1 removes, make actuating mechanism 1 rotate right, when handle structure 2 end rotates left, the connecting link 4 on universal ring structure 3 right side rotates, thereby the media line 52 of universal ring structure 3 right side of pulling moves, make actuating mechanism 1 rotate right.

As shown in fig. 6, the present invention is further configured to: a plurality of groups of universal shafts 10 are arranged between the extension pipe 6 and the execution mechanism 1, each universal shaft 10 comprises two connecting plates 101, each connecting plate 101 is provided with a plurality of through holes for the steel cable 5 to pass through, the end part of one side of each connecting plate 101 is provided with a rotating plate 102 in an up-down symmetry manner, the end part of the other side is provided with a rotating plate 102 in a left-right symmetry manner, the end part of the front side of the execution mechanism 1 is provided with a rotating plate 102 in an up-down symmetry manner, the end part of the rear side of the extension pipe 6 is provided with a rotating plate 102 in a left-right symmetry manner, the rotating plates 102 are connected between the execution mechanism 1 and the connecting plates 101, between the connecting plates 101 and the connecting plates 101, and between the connecting plates 101 and the extension pipe 6 through rotating shafts to realize rotating connection, a plurality of joints are connected in pairs through 4 rotating plates 102, (the rotating plates 102 are parallel in pairs and perpendicular in pairs), and the formed revolute pairs can realize that the jaws are bent towards any direction; the wire rope 5 is inserted into the joint and connected to the actuator 1, and the direction and degree of bending of the actuator 1 can be controlled by contraction and extension of the medium wire 52, and the design of the universal shaft 10 enables the actuator 1 to reach more dead space.

As shown in fig. 4, the present invention is further configured to: the left and right rotating rings 32 are of a C shape, the two ends of the left and right rotating rings 32 are respectively provided with the connecting ring 321, and the wrist strap 323 is arranged between the two connecting rings 321, so that different operators can use the wrist strap conveniently, the phenomenon that the wrist is too thin or too thick to cause falling or blocking is avoided, and meanwhile, when the control handle 21 mechanism rotates, the wrist strap 323 is convenient for wrist movement.

As shown in fig. 1 to 6, the present invention is further configured to: the opposite surfaces of the tail end of the first jaw 111 and the tail end of the second jaw 112 are provided with saw-toothed protrusions, so that clamping is facilitated, friction force is increased, and slipping is avoided.

As shown in fig. 1 to 7, the working principle of the present invention is: an operator holds the handle 21 by penetrating a hand through the universal ring structure 3, places fingers in the trigger 24, and when the operator normally holds the hand, the return spring 232 pushes against the pulling block 231 to enable the pulling block 231 to be positioned at the front end, the control wire 51 is in a tight state, so that the actuator 1 is pulled to enable the actuator 1 to be in an open state, when the operator pulls the trigger 24 with force, the trigger 24 drives the connecting rod 233 to move, the connecting rod 233 drives the positioning block 234 to rotate, the positioning block 234 pushes the pulling block 231 to move towards the tail end position in the rotating process, the control wire 51 is loosened, the torsion spring 115 in the actuator 1 plays a role to enable the jaw to be closed, and the handle 21 mechanism controls the trigger 24 to realize the opening and closing of the actuator 1; when the angle of the actuating mechanism 1 needs to be adjusted, the operator rotates the handle 21, when the tail end of the handle structure 2 rotates rightwards, the connecting chain 4 on the left side of the universal ring structure 3 rotates, so that the medium line 52 on the left side of the universal ring structure 3 is pulled to move, so that the actuating mechanism 1 rotates rightwards, when the tail end of the handle structure 2 rotates leftwards, the connecting chain 4 on the right side of the universal ring structure 3 rotates, so that the medium line 52 on the right side of the universal ring structure 3 is pulled to move, so that the actuating mechanism 1 rotates rightwards, the up-down rotation and the like are realized, and the action repetition of the actuating mechanism 1 on the handle structure 2 is realized.

Claims

1. Universal pincers are used in minimal access surgery, including end actuating mechanism (1) of the operator action of carving again and control handle structure (2) of end actuating mechanism (1), its characterized in that: still including being located preceding universal ring structure (3), universal ring structure (3) bottom both sides set up connecting chain (4) with handle structure (2) terminal both sides, terminal executive structure front end sets up a plurality of steel cable (5), and is a plurality of steel cable (5) include a control line (51) and a plurality of media line (52), extension pipe (6) are connected to terminal executive mechanism (1) front end, and is a plurality of extension pipe (6) all pass extension pipe (6), set up stereoplasm hose passageway (9) between extension pipe (6) and handle structure (2), extension pipe (6) front end and universal ring structure (3) top set up bent frame (7), set up branch cable structure (8) in bent frame (7), control line (51) pass stereoplasm hose passageway (9) and connect handle structure (2), media line (52) pass branch cable structure (8) and universal ring structure (3) in bent frame (7) respectively and are connected chain (4).

2. The gimbaled forceps for minimally invasive surgery of claim 1, wherein: the universal ring structure (3) comprises an outer ring (31), a self-rotating ring (34) is arranged in the outer ring (31), the outer ring (31) of the self-rotating ring (34) is in sliding connection, an upper rotating ring (33) and a lower rotating ring (33) are arranged in the self-rotating ring (34), a left rotating ring (32) and a right rotating ring (32) are arranged in the upper rotating ring (33) and the lower rotating ring (33), and rotating shafts are symmetrically arranged between two adjacent self-rotating ring (34), upper rotating ring (33) and right rotating ring (32).

3. The gimbaled forceps for minimally invasive surgery of claim 1, wherein: cable-dividing structure (8) include fixed pulley (81) that a plurality of groups interval set up, fixed pulley (81) top that is close to universal ring one end sets up two sets of cylindric lock (82), bent frame (7) and universal ring structure (3) junction set up outlet groove (83), medium line (52) pass a plurality of groups fixed pulley (81), two sets of cylindric lock (82), last a set of fixed pulley (81) and outlet groove (83) in proper order.

4. The gimbaled forceps for minimally invasive surgery of claim 1, wherein: actuating mechanism (1) is including being located terminal first jaw (111) and second jaw (112), first jaw (111) front end sets up logical groove (113), second jaw (112) are arranged in logical groove (113) for L type and one end, the part that second jaw (112) are located logical groove (113) sets up inside bull stick (114) that sets up, bull stick (114) pass second jaw (112) and rotate with first jaw (111) and be connected, set up torsional spring (115) on bull stick (114), media line (52) is connected to first jaw (111) front end, the terminal of first jaw (111) is connected through first jaw (111) front end and logical groove (113) in steering line (51).

5. The gimbaled forceps for minimally invasive surgery of claim 1, characterized in that: the handle structure (2) comprises a handle (21), a knob (22) is arranged at the tail end of the handle (21), the knob (22) is connected with the connecting chain (4), a push-pull structure (23) is arranged in the handle (21), a trigger (24) is arranged at the lower end of the handle (21), and the trigger (24) controls the actuating mechanism (1) through the push-pull structure (23).

6. The gimbaled forceps for minimally invasive surgery of claim 5, wherein: the push-pull structure (23) comprises a pulling block (231) arranged in a handle (21), a return spring (232) is sleeved on the pulling block (231), an L-shaped positioning block (234) is arranged at the front end of the pulling block (231), the control wire (51) penetrates through a connecting block to be connected with the front end of the positioning block (234), one end, far away from the pulling block (231), of the positioning block (234) is connected with a connecting rod (233), the vertical angle of the positioning block (234) is rotatably connected with the handle (21), the positioning block (234) drives the connecting rod (233) to push the pulling block (231) to move through a trigger (24), and the pulling block (231) is fixedly connected with a knob (22) and is rotatably connected with the handle (21).

7. The gimbaled forceps for minimally invasive surgery of claim 1, wherein: universal ring structure (3) surface sets up a plurality of recesses (11), universal ring structure (3) are connected through the dwang rotation with connecting chain (4), handle structure (2) and connecting chain (4) fixed connection, media line (52) are worn out and are arranged in respectively behind curved frame (7) in a plurality of recesses (11) and are connected with the dwang.

8. The gimbaled forceps for minimally invasive surgery of claim 1, wherein: set up a plurality of universal shaft (10) of group between extension pipe (6) and actuating mechanism (1), universal shaft (10) include two connecting plates (101), connecting plate (101) set up a plurality of through-holes that supply steel cable (5) to pass, the tip longitudinal symmetry of connecting plate (101) one side sets up rotor plate (102), the tip bilateral symmetry of opposite side sets up rotor plate (102), the preceding tip longitudinal symmetry of actuating mechanism (1) sets up rotor plate (102), extension pipe (6) rear end bilateral symmetry sets up rotor plate (102), all realize rotating the connection through rotation axis connection rotor plate (102) between actuating mechanism (1) and connecting plate (101), between connecting plate (101) and between connecting plate (101) and extension pipe (6).

9. The gimbaled forceps for minimally invasive surgery of claim 2, wherein: the left rotating ring and the right rotating ring (32) are C-shaped, two ends of the left rotating ring and the right rotating ring (32) are respectively provided with a connecting ring (321), and a wrist strap (323) is arranged between the two connecting rings (321).

10. The gimbaled forceps for minimally invasive surgery of claim 4, wherein: saw-tooth-shaped protrusions are arranged on the surfaces of the tail end of the first jaw (111) and the tail end of the second jaw (112) which face each other.