Clip applier

Abstract

The clip applier comprises a clip bin, an end actuator, a clip feeding mechanism, a firing mechanism and a stop mechanism. The stopping mechanism is provided with a first stopping part. The firing mechanism is provided with a limiting part, and the motion of the firing mechanism comprises driving motion and resetting motion. The clip applier has a first state and a second state. When the percussion mechanism is matched with the clip feeding mechanism, the clip applier is in a first state, and the percussion mechanism drives the clip feeding mechanism to move so as to feed the clip in the clip bin into the end actuator and drive the end actuator to be closed in response to the driving movement of the percussion mechanism in the first state. After the clip feeding mechanism is reset, the firing mechanism performs reset movement until the limiting part crosses the first stop part, and before the firing mechanism is matched with the clip feeding mechanism again, the clip applier is in a second state. And in response to the driving movement of the firing mechanism in the second state, the limiting part is kept abutting against the first stopping part to limit the driving movement of the firing mechanism in the second state, so that the firing mechanism can smoothly drive the clamp to move into the end executor through the driving movement, the internal disorder of the clip applier is avoided, and the stable operation of the clip applier is ensured.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a clip applicator. Background Art

[0002] During a surgical procedure, it is necessary to ligate and stop bleeding of severed tissue or blood vessels. A common method is to use a clip applicator to apply a clip to the tissue or blood vessel.

[0003] The clip applicator includes a clip magazine and an end effector. Clips are stored in the clip magazine. A complete clip application process of the clip applicator generally includes a clip feeding action and a clip applying action. When using the clip applicator, the clip applicator performs a clip feeding action to send the clip stored in the clip magazine to the end effector, and then the clip applicator performs a clip applying action to drive the end effector to close, so that the clip in the end effector closes to clamp the tissue or blood vessel, thereby blocking blood flow. After the clip applicator has completed a complete clip application process, the internal moving units need to be reset, and then the clip applicator performs the next clip application process. Summary of the Invention

[0004] Embodiments of the present disclosure aim to provide a clip applicator.

[0005] The present disclosure is achieved through the following technical solutions: A clip applicator includes a clip magazine, an end effector, a clip feeding mechanism, a firing mechanism, and a stop mechanism; The stop mechanism has a first stop portion; the firing mechanism has a limiting portion, and the movement of the firing mechanism includes a driving movement and a reset movement; The clip applicator has a first state and a second state; When the firing mechanism cooperates with the clip feeding mechanism, the clip applicator is in the first state. In response to the driving movement of the firing mechanism in the first state, the firing mechanism drives the clip feeding mechanism to move to send the clip in the clip magazine to the end effector; when the clip reaches the end effector, the firing mechanism is disengaged from the clip feeding mechanism. In response to the driving movement of the firing mechanism, the firing mechanism drives the end effector to close so that the clip in the end effector closes; After the clip feeding mechanism is reset, the firing mechanism performs the reset movement until the limiting portion crosses the first stop portion. Before the firing mechanism cooperates with the clip feeding mechanism again, the clip applicator is in the second state; in response to the driving movement of the firing mechanism in the second state, the limiting portion remains in contact with the first stop portion to limit the driving movement of the firing mechanism in the second state.

[0006] For example, the clip applicator further includes a housing and a blocking portion; The stop mechanism includes a moving part, the moving part is movably connected to the housing, and the moving part has the first stop portion and the second stop portion; When the firing mechanism cooperates with the clip feeding mechanism, in response to the firing mechanism performing the driving movement, the first stop portion is staggered with the limiting portion to avoid the limiting portion; In response to the firing mechanism performing the resetting movement, when the limiting portion moves to abut against the first stop portion, the moving member moves to allow the first stop portion to avoid the limiting portion, thereby allowing the limiting portion to pass over the first stop portion; After the clamp feeding mechanism is reset, the firing mechanism performs the reset movement until the limiting part passes the first stop part, and before the firing mechanism cooperates with the clamp feeding mechanism again, in response to the firing mechanism performing the driving movement, when the limiting part moves to abut against the first stop part, the blocking part abuts against the second stop part to limit the movement of the moving part, so that the limiting part remains in abutment with the first stop part to limit the firing mechanism from performing the driving movement.

[0007] For example, in response to the firing mechanism performing the driving movement or the resetting movement, the limiting portion moves axially; In an initial state, the limiting portion is located proximal to the first stop portion, and the firing mechanism cooperates with the clip feeding mechanism so that the projections of the limiting portion and the first stop portion along the axial direction are staggered; In response to the firing mechanism performing the driving movement until the firing mechanism and the clip feeding mechanism are disengaged, the limiting portion and the projection of the first stop portion along the axial direction at least partially overlap, and the limiting portion reaches the distal side of the first stop portion; The firing mechanism performs the reset movement until the limiting portion reaches the proximal side of the first stop portion, and before the firing mechanism cooperates with the clamp feeding mechanism, in response to the firing mechanism performing the driving movement, the limiting portion moves from the proximal side of the first stop portion to the distal end until it maintains abutment with the first stop portion.

[0008] For example, the clip feeding mechanism has a card slot; The firing mechanism includes a first clutch member having an engaging end and a switching end opposite to each other, and the limiting portion is provided at the switching end; In response to the engagement of the engaging end of the first clutch member with the engaging slot, the firing mechanism cooperates with the clip feeding mechanism, and the projections of the limiting portion and the first stop portion along the axial direction are staggered; In response to the first engaging member moving away from the card slot such that the engaging end is disengaged from the card slot, the firing mechanism is disengaged from the clip feeding mechanism, and at least a part of the projection of the limiting portion and the first stopping portion along the axial direction coincides.

[0009] For example, the clip feeding mechanism includes a clip feeding drive tube and a clip feeding assembly connected to each other. In response to the clip feeding drive tube moving distally, the clip feeding assembly moves distally to send the clip in the clip magazine to the end effector. The outer wall of the clip feeding drive tube is provided with the card slot. Before the clip feeding mechanism is reset and the firing mechanism performs the reset movement to cooperate with the clip feeding mechanism again, in response to the engaging end of the first engaging member moving along the outer wall of the clip feeding drive tube, at least a part of the projection of the limiting portion and the first stopping portion along the axial direction coincides.

[0010] For example, the firing mechanism includes a wrench and a switching mechanism connected to each other; the limiting portion is arranged on the wrench; the wrench has an open position and a closed position. In the initial state, the wrench is located at the open position, and the switching mechanism cooperates with the clip feeding mechanism. In response to the wrench moving from the open position to the closed position, the firing mechanism performs the driving movement in the first state. When the wrench reaches the closed position, the clip feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the firing mechanism performs the reset movement, the limiting portion passes over the first stopping portion, and the switching mechanism is reset to cooperate with the clip feeding mechanism again. Before the wrench moves from the closed position towards the open position until the limiting portion passes over the first stopping portion and before the wrench reaches the open position, in response to the wrench moving towards the closed position, the firing mechanism performs the driving movement in the second state, and the first stopping portion and the limiting portion remain in abutment to limit the wrench from moving towards the closed position, thereby limiting the firing mechanism from performing the driving movement in the second state.

[0011] For example, the moving member includes a pivot body and a stopping arm connected to each other, and the pivot body is rotatably connected to the housing. The stopping arm has an avoidance side and a holding side; the first stopping portion is arranged on the holding side of the stopping arm. In response to the wrench moving from the open position to the closed position, the limiting portion moves from the first position to the second position via the avoidance side of the stopping arm. In response to the wrench moving from the closed position toward the open position, so that the limiting portion moves from the second position via the abutting side of the stop arm to abut against the first stop portion, the pivoting body rotates so that the first stop portion avoids the limiting portion, thereby allowing the limiting portion to pass over the first stop portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position via the abutting side of the stop arm until it remains in abutment with the first stop portion, thereby limiting the movement of the wrench toward the closed position.

[0012] For example, the second stop portion is also provided on the abutting side of the stop arm; the blocking portion is provided on the limiting portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, when the limiting portion moves toward the second position until it abuts against the first stop portion, the blocking portion abuts against the second stop portion to limit the movement of the moving part, thereby keeping the first stop portion and the limiting portion in abutment.

[0013] For example, the clip applier further has a stop portion; The stop arm has a connecting end and a free end, the connecting end is connected to the pivot body, and the free end can move relative to the pivot body; the free end of the stop arm is provided with a conversion portion; In response to the wrench moving from the open position to the closed position, the stop arm abuts against the stop portion to limit the pivot body from rotating in the first rotation direction. When the limiting portion moves from the first position via the avoidance side of the stop arm to abut against the conversion portion, the free end of the stop arm moves so that the conversion portion avoids the limit portion, thereby causing the limit portion to move to the second position. In response to the wrench moving from the closed position to the open position, when the limiting portion moves from the second position to abut against the conversion portion, the pivot member rotates along the second rotation direction to allow the conversion portion to avoid the limiting portion, thereby causing the limiting portion to move to the abutting side of the stop arm.

[0014] For example, the wrench further has an intermediate position, which is located between the open position and the closed position; In response to the wrench moving from the open position to the intermediate position, the switching mechanism cooperates with the clip feeding mechanism, and the wrench drives the switching mechanism to move so as to drive the clip feeding mechanism to move, thereby sending the clip in the clip magazine to the end effector; In response to the wrench moving from the intermediate position to the closed position, the switching mechanism is disengaged from the clip feeding mechanism, and the switching mechanism drives the end effector to close so as to close the clip in the end effector.

[0015] For example, the moving member is rotatably connected to the housing, and the movement of the moving member is rotation.

[0016] For example, the stop mechanism further includes an elastic member, one end of the elastic member is connected to the housing, and the other end is connected to the moving member; the elastic member is configured to provide power for the reset of the moving member.

[0017] For example, the firing mechanism includes a first clutch member having a engaging end; the clip feeding mechanism has a card slot; In response to the engaging end of the first clutch member engaging with the card slot, the firing mechanism cooperates with the clip feeding mechanism; In response to the engaging end of the first clutch member disengaging from the card slot, the firing mechanism is disengaged from the clip feeding mechanism.

[0018] For example, the clip applicator further includes a switching member, a housing, and a guide rail provided on the housing; the first clutch member further has a switching end opposite to the engaging end, and the switching member is provided at the switching end; In response to the firing mechanism performing the driving movement such that the clip is sent to the end effector, the switching member enters the guide rail, causing the first clutch member to move away from the card slot, so that the engaging end disengages from the card slot.

[0019] For example, the clip applicator further includes a clip applying mechanism, and the clip applying mechanism includes a clip applying drive tube and a sleeve connected to each other; In response to the firing mechanism performing the driving movement to be disengaged from the clip feeding mechanism, the firing mechanism abuts against the clip applying drive tube to drive the clip applying drive tube to move, so that the sleeve moves to at least partially receive the end effector in the sleeve, thereby closing the end effector. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of a clip applicator provided by some embodiments of the present disclosure; Figure 2is a partial schematic diagram of a clip applier provided by one embodiment of the present disclosure, wherein the clip applier is in an initial state and the firing mechanism is not moved; Figures 3 - 4 is a structural schematic diagram of a stop mechanism provided by an embodiment of the present disclosure; Figure 5 1 is a schematic structural diagram of a housing of a clip applier provided by an embodiment of the present disclosure, mainly for illustrating a blocking portion; Figure 6 FIG1 is a schematic diagram of a partial area of a clip applier provided by one embodiment of the present disclosure, wherein the clip applier is in an initial state and the base of the switching mechanism is not shown; Figure 7 is a schematic diagram of a portion of a clip applier provided by one embodiment of the present disclosure, wherein the firing mechanism is in a driving motion and clip delivery is not completed; Figures 8 - 9 FIG1 is a partial schematic diagram of a clip applier provided by an embodiment of the present disclosure, wherein the clip applier is at the moment of completing clip delivery; Figure 10 is a partial schematic diagram of a clip applier provided by one embodiment of the present disclosure, wherein the clip applier is at the moment of completing clip application; Figures 11 - 12 is a partial schematic diagram of a clip applier provided by one embodiment of the present disclosure, wherein the firing mechanism performs a reset motion so that the limit portion passes through the moving member; Figures 13 - 14 is a schematic diagram of a portion of a clip applier provided by an embodiment of the present disclosure, wherein the firing mechanism is driven before returning to engage with the clip delivery mechanism again, so that the limit portion and the first stop portion remain in contact; Figures 15 - 16 is a partial schematic diagram of a clip applier provided by another embodiment of the present disclosure, wherein the clip applier is in an initial state and the firing mechanism is not moved; Figure 17 is a structural schematic diagram of a wrench provided by another embodiment of the present disclosure; Figures 18 - 19 is a structural schematic diagram of a moving part provided by another embodiment of the present disclosure; Figure 20 is a partial schematic diagram of a clip applier provided by another embodiment of the present disclosure, wherein the clip applier is at the moment of completing clip delivery; Figure 21 is a partial schematic diagram of a clip applier provided by another embodiment of the present disclosure, wherein the limit portion moves from a first position via the avoidance side of the stop arm to abut against the conversion portion; Figure 22 is a partial regional schematic diagram of a clip applier provided by another embodiment of the present disclosure, wherein the clip applier is at the moment of completing clip application; Figure 23 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure, wherein the limiting portion moves from the second position to abut against the conversion portion; Figure 24 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure, wherein the limiting portion moves from the second position to abut against the first stop portion; Figure 25 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure, wherein the limiting portion moves from the second position to the abutting side of the stop arm; Figure 26 It is a schematic diagram of a partial area of a clip applicator provided by another embodiment of the present disclosure, wherein, before the wrench moves from the closed position to the open position, the wrench moves towards the closed position, and the first stop portion remains in abutment with the limiting portion; Figures 27 - 28 It is a schematic structural diagram of a clip cartridge provided by some embodiments of the present disclosure; Figure 29 It is a schematic structural diagram of a clip provided by a clip applicator according to some embodiments of the present disclosure; Figures 30 - 31 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, wherein the clip feeding assembly is not in abutment with the clip; Figures 32 - 33 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, wherein the clip feeding assembly abuts against the clip and pushes the clip into the jaw assembly; Figure 34 It is a cross-sectional view of a partial area of a clip applicator provided by some embodiments of the present disclosure, and the clip applicator is in an initial state; Figure 35 It is a schematic structural diagram of a clip pushing mechanism provided by some embodiments of the present disclosure; Figure 36 It is a schematic structural diagram of a switching mechanism provided by some embodiments of the present disclosure; Figures 37 - 38 It is a schematic structural diagram of a guiding pivot provided by some embodiments of the present disclosure; Figure 39 It is a schematic structural diagram of a wrench provided by some embodiments of the present disclosure; Figure 40 It is a schematic structural diagram of a guiding channel provided by some embodiments of the present disclosure; Reference numerals in the above-mentioned drawings: 100 - head housing; 110 - handle housing; 120 - blocking portion; 130 - stop portion; 200 - Clip bin; 201 - First side; 202 - Second side; 203 - Bottom; 204 - First transverse barb; 205 - Second transverse barb; 206 - Inlet; 210 - Clip; 211 - First clip arm; 212 - Second clip arm; 213 - Connecting part; 214 - First ear; 215 - Second ear; 216 - Engaging part; 220 - First clip 300 - End effector; 310 - First jaw arm; 320 - Second jaw arm 400 - Clip feeding drive tube; 401 - Card slot; 410 - Clip feeding rod; 420 - Elastic rod; 430 - Clip feeding block 500 - Clip applying drive tube; 501 - Baffle; 510 - Sleeve 600 - Clip pushing seat; 601 - Side cavity; 610 - Clip pushing block; 620 - Elastic element 700 - Wrench; 710 - Guide channel; 711 - Main channel; 7111 - Opening; 712 - Sub-channel; 713 - Blocking wall; 714 - Guide wall; 715 - Extension arm; 716 - Notch; 720 - Seat body; 721 - Kidney-shaped hole; 722 - Contact part; 730 - First clutch part; 731 - Engaging end; 732 - Switching end; 733 - Supporting part; 740 - Second clutch part; 751 - Switching part; 752 - Guide rail; 760 - Biasing element 810 - First rack; 820 - Intermediate part; 830 - Second rack 900 - Moving part; 910 - First stop; 920 - Second stop; 930 - Pivoting part; 940 - Elastic part; 941 - Spiral part; 942 - Twisting arm; 950 - Pivoting body; 960 - Stop arm; 961 - Avoiding side; 962 - Supporting side; 970 - Conversion part; 980 - Pin shaft 1000 - Guiding pivot part; 1010 - First rotating arm; 1020 - Second rotating arm; 1030 - Third rotating arm; 1040 - Anti-retreat part; 1050 - Guide part; 1060 - Biasing spring; 1070 - Pivoting joint part; 1080 - Force-receiving part; 1090 - Guiding part; 1100 - Rod body assembly; 1110 - Base; 1111 - Guide groove; 1112 - Guide surface; 1200 - First reset part; 1400 - Third reset part; 1500 - Fourth reset part; 1600 - Limiting part Detailed implementation mode

[0021] To make the objectives, technical solutions, and advantages of the present disclosure more clear and understandable, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure.

[0022] It should be understood that the terms "proximal", "posterior", "distal", and "anterior" used herein are relative to a clinician who manipulates the handle assembly of the clip applicator. The terms "proximal" and "posterior" refer to the parts close to the clinician, while the terms "distal" and "anterior" refer to the parts away from the clinician. That is, the handle assembly is the proximal end, and the end effector is the distal end. For example, the proximal end of a component means the end relatively close to the handle assembly, and the distal end means the end relatively close to the end effector.

[0023] In the present disclosure, unless otherwise clearly defined and limited, terms such as "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. It should be noted that when there are limiting words before "connected" and "coupled", they have the meanings limited by the corresponding limiting words, only excluding the obvious situations that need to be excluded, and not excluding other possible situations.

[0024] The term "axial direction" refers to the length direction of the shaft assembly 1100.

[0025] Referring to Figures 1 - 26 , some embodiments of the present disclosure provide a clip applicator, including a clip cartridge 200, an end effector 300, a clip feeding mechanism, a firing mechanism, and a stop mechanism.

[0026] The clip cartridge 200 contains clips 210, and the clip feeding mechanism is configured to drive the clips 210 in the clip cartridge 200 to move into the end effector 300.

[0027] The stop mechanism has a first stop portion 910. The firing mechanism has a limiting portion 1600, and the movement of the firing mechanism includes a driving movement and a reset movement.

[0028] The clip applicator has a first state and a second state.

[0029] When the firing mechanism cooperates with the clip feeding mechanism, the clip applying pliers are in the first state. In response to the driving movement of the firing mechanism in the first state, the firing mechanism drives the clip feeding mechanism to move so as to send the clip 210 in the clip magazine 200 into the end effector 300. When the clip 210 reaches the end effector 300, the firing mechanism and the clip feeding mechanism are disengaged. In response to the driving movement of the firing mechanism, the firing mechanism drives the end effector 300 to close so as to close the clip 210 in the end effector 300.

[0030] After the clip feeding mechanism is reset, when the firing mechanism performs a reset movement until the limiting portion 1600 passes over the first stop portion 910, and before the firing mechanism and the clip feeding mechanism cooperate again, the clip applying pliers are in the second state. In response to the driving movement of the firing mechanism, the limiting portion 1600 remains in contact with the first stop portion 910 to limit the driving movement of the firing mechanism. The limiting portion 1600 remaining in contact with the first stop portion 910 means that the limiting portion 1600 and the first stop portion 910 can stably contact each other and there is no relative movement between the two.

[0031] The limiting portion 1600 passing over the first stop portion 910 means that during the process of the wrench 700 moving from the closed position to the open position, when the limiting portion 1600 moves from one side of the first stop portion 910 to contact the first stop portion 910, the two can avoid each other. For example, the first stop portion 910 moves to avoid the limiting portion 1600 so that the limiting portion 1600 can continue to move to the other side of the first stop portion 910.

[0032] The clip applying pliers being in the first state means the state where the firing mechanism of the clip applying pliers cooperates with the clip feeding mechanism. The clip applying pliers being in the second state means the state of the clip applying pliers during the process after the clip feeding mechanism is reset, when the firing mechanism performs a reset movement until the limiting portion 1600 passes over the first stop portion 910, and before the firing mechanism and the clip feeding mechanism cooperate again.

[0033] In the present disclosure, it is allowed for the firing mechanism to perform a driving movement in the first state, and it is not allowed for the firing mechanism to perform a driving movement in the second state.

[0034] When using the clip applying pliers, if the firing mechanism performs a driving movement in the second state and the firing mechanism fails to smoothly drive the clip feeding mechanism to move, thus unable to drive the clip to move into the end effector, it will cause disorder inside the clip applying pliers and lead to malfunctions in the operation of the clip applying pliers. For the clip applying pliers of the present disclosure, when the firing mechanism performs a reset movement to cooperate with the clip feeding mechanism again, the firing mechanism can perform a driving movement, that is, the firing mechanism is allowed to perform a driving movement in the first state, so that the driving movement of the firing mechanism can smoothly drive the clip feeding mechanism to move to drive the clip into the end effector, avoiding disorder inside the clip applying pliers and ensuring the stable operation of the clip applying pliers.

[0035] Reference Figure 2and Figure 15 The clip applicator further includes a housing and a blocking portion 120. The stop mechanism includes a moving member 900 which is movably connected to the housing. The moving member 900 has a first stop portion 910 and a second stop portion 920.

[0036] Reference Figure 2 、 Figures 6 - 10 、 Figure 15 and Figures 20 - 22 When the firing mechanism cooperates with the clip feeding mechanism, in response to the driving movement of the firing mechanism, the first stop portion 910 is displaced from the limiting portion 1600 to avoid the limiting portion 1600. The displacement of the first stop portion 910 from the limiting portion 1600 means that during the driving movement of the firing mechanism, the first stop portion 910 is not in contact with the limiting portion 1600. Thus, the first stop portion 910 can avoid the limiting portion 1600, enabling the firing mechanism to smoothly perform the driving movement to drive the clip feeding mechanism to move, so that the clip moves into the end effector.

[0037] Reference Figures 11 - 12 and Figures 24 - 25 In response to the firing mechanism performing a reset movement such that the limiting portion 1600 moves to abut against the first stop portion 910, the moving member 900 moves so that the first stop portion 910 avoids the limiting portion 1600, thereby enabling the limiting portion 1600 to cross over the first stop portion 910. Thus, the firing mechanism can continue to perform the reset movement.

[0038] Reference Figures 13 - 14 and Figure 26 After the clip feeding mechanism is reset, when the firing mechanism performs a reset movement until the limiting portion 1600 crosses over the first stop portion 910, and before the firing mechanism cooperates with the clip feeding mechanism again, in response to the driving movement of the firing mechanism such that the limiting portion 1600 moves to abut against the first stop portion 910, the blocking portion 120 abuts against the second stop portion 920 to limit the movement of the moving member 900. Thus, the first stop portion 910 cannot avoid the limiting portion 1600, enabling the limiting portion 1600 to remain in abutment with the first stop portion 910 to limit the driving movement of the firing mechanism.

[0039] Reference Figures 2 - 4 、 Figure 15 and Figures 18 - 19 The moving member 900 is rotatably connected to the housing. For example, the moving member 900 includes a pivot portion 930 which is connected to the housing by a pin shaft 980. The movement of the moving member 900 is rotation.

[0040] The stop mechanism further includes an elastic member 940. One end of the elastic member 940 is connected to the housing, and the other end is connected to the moving member 900. The elastic member 940 is configured to provide power for the reset of the moving member 900. In response to the firing mechanism performing a driving movement or a reset movement and disengaging from the moving member 900, the elastic member 940 drives the moving member 900 to move back to its original position. For example, the elastic member 940 is a torsion spring, which includes a helical portion 941 and two torsion arms 942 extending from the helical portion 941. One of the torsion arms 942 is one end of the elastic member 940, and the other torsion arm 942 is the other end of the elastic member 940. The helical portion 941 of the torsion spring is sleeved on the pivoting portion 930. One of the torsion arms 942 is connected to the housing, and the other torsion arm 942 is connected to the moving member 900.

[0041] Reference Figure 6 and Figure 34 , the firing mechanism includes a first clutch member 730, and the first clutch member 730 has an engaging end 731. The cartridge feeding mechanism has a card slot 401. In response to the engaging end 731 of the first clutch member 730 engaging with the card slot 401, the firing mechanism cooperates with the cartridge feeding mechanism, so that when the firing mechanism performs a driving movement, it can drive the cartridge feeding mechanism to move. In response to the engaging end 731 of the first clutch member 730 disengaging from the card slot 401, the firing mechanism and the cartridge feeding mechanism are disengaged, and when the firing mechanism performs a driving movement, it no longer drives the cartridge feeding mechanism to move.

[0042] Reference Figures 6 - 14 and Figure 34 , the clip applying pliers further include a guide rail 752 and a switching member 751. The guide rail 752 is disposed on the housing. The first clutch member 730 further has a switching end 732 opposite to the engaging end 731, and the switching member 751 is disposed at the switching end 732 of the first clutch member 730.

[0043] Reference Figure 2 、 Figure 6 and Figure 34 , in the initial state (i.e., when the firing mechanism is not moving), the firing mechanism cooperates with the cartridge feeding mechanism. In response to the firing mechanism performing a driving movement, the clip 210 is sent in front of the end effector 300, the switching member 751 does not enter the guide rail 752, and the engaging end 731 of the first clutch member 730 engages with the card slot 401, and the firing mechanism cooperates with the cartridge feeding mechanism.

[0044] Reference Figures 8 - 9 , in response to the firing mechanism performing a driving movement such that the clip 210 is sent into the end effector 300, the switching member 751 enters the guide rail 752, causing the first clutch member 730 to move away from the card slot 401, so that the engaging end 731 of the first clutch member 730 disengages from the card slot 401, and the firing mechanism and the cartridge feeding mechanism are disengaged.

[0045] When the clip 210 is sent into the end effector 300, in response to the firing mechanism continuing to perform a driving movement, the switching member 751 moves along the guide rail 752, the engaging end 731 of the first clutch member 730 remains disengaged from the card slot 401, and the firing mechanism drives the end effector 300 to close.

[0046] Taking Figure 8 the angle as a reference, the guide rail 752 and the clip feeding mechanism are oppositely arranged in the up and down directions. When the switching member 751 does not enter the guide rail 752, the engaging end 731 of the first clutch member 730 can be engaged with the card slot 401. When the switching member 751 enters the guide rail 752, the first clutch member 730 is lifted upward, so that its engaging end 731 is disengaged from the card slot 401.

[0047] The clip feeding mechanism includes a clip feeding drive tube 400 and a clip feeding assembly connected to each other. In response to the clip feeding drive tube 400 moving distally, the clip feeding assembly moves distally to send the clip 210 in the clip magazine 200 into the end effector 300. Referring to Figures 6 - 9 , a card slot 401 is provided on the outer wall of the clip feeding drive tube 400. After the clip feeding mechanism is reset, in response to the firing mechanism performing a reset movement, the engaging end 731 of the first clutch member 730 moves along the outer wall of the clip feeding drive tube 400 to be engaged with the card slot 401.

[0048] Referring to Figure 1 , the housing of the clip applicator is divided into a head housing 100 and a handle housing 110 extending from the lower side of the head housing 100 according to the positional relationship. The clip applicator further includes a rod body assembly 1100. The rod body assembly 1100 extends from the head housing 100, the end effector 300 is provided at the distal end of the rod body assembly 1100, and the clip magazine 200 is provided on the rod body assembly 1100.

[0049] The proximal end of the clip magazine 200 is connected to the head housing 100, and the distal end of the clip magazine 200 is connected to the end effector 300. Referring to Figures 27 - 28 , a plurality of clips 210 are placed in the clip magazine 200. The plurality of clips 210 are sequentially arranged from the distal end to the proximal end of the clip magazine 200, and are respectively a first clip 220, a second clip to an Nth clip. The first clip 220 is closest to the distal end of the clip magazine 200 and is first sent into the end effector 300. The clips 210 other than the first clip 220 in the clip magazine 200 are defined as other clips. The clip magazine 200 includes M workstations, which are arranged from the distal end to the proximal end of the clip magazine 200, and are respectively a first workstation, a second workstation,... an Mth workstation. The first clip 220 is located at the first workstation at the forefront, and the second clip to the Nth clip are sequentially arranged at the second workstation to the Nth workstation. M≥2, M≥N.

[0050] To continuously apply multiple clips 210, the clip applicator needs to perform a clip feeding action, a clip applying action, and a clip pushing action. The clip feeding mechanism is configured to drive the clip 210 to move from the clip magazine 200 to the end effector 300 (clip feeding action). The clip applicator further includes a clip applying mechanism and a clip pushing mechanism. The clip applying mechanism is configured to drive the end effector 300 to close so that the clip 210 in the end effector 300 is closed (clip applying action). The clip pushing mechanism is configured to drive the other clips in the clip magazine 200 to move forward one station (clip pushing action).

[0051] In the initial state (i.e., when the firing mechanism is not moving), the firing mechanism cooperates with the clip feeding mechanism. In response to the driving movement of the firing mechanism, the firing mechanism drives the clip feeding mechanism to move to send the clip 210 at the first station into the end effector 300. When the clip 210 reaches the end effector 300, the firing mechanism is disengaged from the clip feeding mechanism.

[0052] After the clip 210 reaches the end effector 300, in response to the driving movement of the firing mechanism, the firing mechanism drives the clip applying mechanism to move to drive the end effector 300 to close, so that the clip 210 in the end effector 300 is closed. After the end effector 300 is closed, the clip feeding mechanism is reset. In response to the reset movement of the firing mechanism, the clip applying mechanism is reset, and the clip pushing mechanism moves distally to move the other clips in the clip magazine 200 forward one station.

[0053] Before the firing mechanism is reset to cooperate with the clip feeding mechanism again, if the firing mechanism performs a driving movement, it cannot smoothly drive the clip feeding mechanism to move, and the clip 210 at the first station is not sent into the end effector 300. In the above situation, when the firing mechanism performs a reset movement again, the clip pushing mechanism moves distally to move the other clips in the clip magazine 200 forward one station, so that the clip 210 at the second station enters the first station. Since the clip feeding mechanism does not send the clip 210 at the first station into the end effector 300, there are two clips 210 at the first station at this time, and the clip feeding mechanism will be stuck when performing the clip feeding action again, resulting in disorder inside the clip applicator and malfunction of the operation of the clip applicator. Therefore, the clip applicator of the present disclosure is configured such that the firing mechanism must perform a reset movement to cooperate with the clip feeding mechanism again before the firing mechanism can perform a driving movement again, avoiding stacking of the clips 210 in the clip magazine 200 and causing the clip feeding mechanism to be stuck, thereby being able to avoid disorder inside the clip applicator and ensure stable operation of the clip applicator.

[0054] In an embodiment of the present disclosure, in response to the driving movement or the reset movement of the firing mechanism, the limiting portion 1600 moves axially. For example, in response to the driving movement of the firing mechanism, the limiting portion 1600 moves axially distally, and in response to the reset movement of the firing mechanism, the limiting portion 1600 moves axially proximally.

[0055] Reference Figures 6 - 7When the firing mechanism and the clip feeding mechanism are engaged, the axial projections of the limiting portion 1600 and the first stop portion 910 are offset. When the firing mechanism and the clip feeding mechanism are disengaged, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap.

[0056] In the initial state (i.e., when the firing mechanism is not moving), the limiting portion 1600 is located proximal to the first stop portion 910, and the firing mechanism cooperates with the clamping mechanism to stagger the axial projections of the limiting portion 1600 and the first stop portion 910. Thus, in response to the driving movement of the firing mechanism so that the limiting portion 1600 moves axially toward the distal end, the limiting portion 1600 has no contact with the first stop portion 910, and the first stop portion 910 avoids the limiting portion 1600, so that the limiting portion 1600 can reach the distal side of the first stop portion 910.

[0057] refer to Figures 8 - 10 In response to the firing mechanism driving movement until the firing mechanism and the clamp feeding mechanism are released from engagement, the axial projection of the limiting portion 1600 and the first stop portion 910 at least partially overlaps. At this time, the limiting portion 1600 has reached the distal side of the first stop portion 910. In response to the firing mechanism driving movement so that the limiting portion 1600 continues to move axially toward the distal end, the limiting portion 1600 still has no contact with the first stop portion 910, and the first stop portion 910 will not restrict the movement of the limiting portion 1600.

[0058] refer to Figures 11 - 12 In response to the firing mechanism performing the reset movement, the limiting portion 1600 moves from the distal side of the first stop portion 910 to the proximal side of the first stop portion 910. When the limiting portion 1600 is located on the distal side of the first stop portion 910, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap. In response to the firing mechanism performing the reset movement, when the limiting portion 1600 moves from the distal side of the first stop portion 910 to abut against the first stop portion 910, the moving member 900 moves, causing the first stop portion 910 to avoid the limiting portion 1600, thereby causing the limiting portion 1600 to pass over the first stop portion 910 so that the limiting portion 1600 reaches the proximal side of the first stop portion 910 and continues to move until the firing mechanism is reset.

[0059] refer to Figures 13 - 14After the clamp feeding mechanism is reset, the firing mechanism performs a reset movement until the limiting portion 1600 reaches the proximal side of the first stop portion 910, and before the firing mechanism and the clamp feeding mechanism cooperate again, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap. At this time, in response to the driving movement of the firing mechanism, the limiting portion 1600 moves from the proximal side of the first stop portion 910 to the distal end until it abuts against the first stop portion 910, and the blocking portion 120 abuts against the second stop portion 920, so that the moving part 900 is restricted from moving, thereby keeping the limiting portion 1600 in abutment with the first stop portion 910 to restrict the driving movement of the firing mechanism.

[0060] refer to Figure 5 The blocking portion 120 is disposed on the housing and is located distally of the moving member 900. In the initial state (i.e., the firing mechanism is not moving), the moving member 900 tends to rotate clockwise under the action of the elastic member 940. When the limiting portion 1600 moves from the distal side of the first stop portion 910 until it abuts the first stop portion 910, the moving member 900 rotates counterclockwise, causing the first stop portion 910 to clear the limiting portion 1600. When the limiting portion 1600 disengages from the first stop portion 910 of the moving member 900, the moving member 900 rotates clockwise to return to its original position, and the second stop portion 920 of the moving member 900 abuts the blocking portion 120. When the limiting portion 1600 moves from the proximal side of the first stop portion 910 to abut against the first stop portion 910, the second stop portion 920 abuts against the blocking portion 120, and the moving part 900 is restricted from rotating in the clockwise direction, so that the limiting portion 1600 remains in abutment with the first stop portion 910.

[0061] The firing mechanism includes a first clutch 730 having an engaging end 731. The first clutch 730 also has a switching end 732 opposite the engaging end 731. A limiter 1600 is disposed at the switching end 732. In response to the engaging end 731 of the first clutch 730 engaging the retaining slot 401, the firing mechanism cooperates with the clamp feed mechanism, and the limiter 1600 and the first stopper 910 are offset in the axial direction. In response to the first clutch 730 moving away from the retaining slot 401, disengaging the engaging end 731 from the retaining slot 401, the firing mechanism and the clamp feed mechanism are disengaged, and the limiter 1600 and the first stopper 910 are at least partially aligned in the axial direction.

[0062] As described above, the clip applier has a guide rail 752 disposed on the housing. The switching member 751 is disposed at the switching end 732 of the first clutch member 730 , and at least a portion of the switching member 751 constitutes the limiting portion 1600 .

[0063] by Figure 6As a reference, the moving member 900 is disposed above the clamp feeding mechanism, and the first clutch member 730 is located between the moving member 900 and the clamp feeding mechanism. When the engaging end 731 of the first clutch member 730 engages with the engaging slot 401, the height of the limiting portion 1600 does not reach the height of the moving member 900, and the axial projections of the limiting portion 1600 and the first stop portion 910 are offset. The first clutch member 730 moves upward away from the engaging slot 401, disengaging its engaging end 731 from the engaging slot 401. The height of the limiting portion 1600 reaches the height of the moving member 900, so that the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap.

[0064] As described above, the clamp feeding mechanism includes a clamp feeding drive tube 400 and a clamp feeding assembly connected to each other. In response to the distal movement of the clamp feeding drive tube 400, the clamp feeding assembly moves distally to feed the clamp 210 of the clamp magazine 200 into the end actuator 300. A clamping groove 401 is provided on the outer wall of the clamp feeding drive tube 400. After the clamp feeding mechanism is reset, in response to the firing mechanism performing a reset movement until it is engaged with the clamp feeding mechanism again, the engaging end 731 of the first clutch member 730 moves along the outer wall of the clamp feeding drive tube 400, and the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap. Figures 13 - 14 When the engaging end 731 of the first clutch member 730 moves along the outer wall of the clamp feeding driving tube 400 , the height of the limiting portion 1600 reaches the height of the moving member 900 .

[0065] refer to Figure 2 and Figure 6 In the initial state (i.e. when the firing mechanism is not moving), the engaging end 731 of the first clutch member 730 is engaged with the engaging groove 401, and the projections of the limiting portion 1600 and the first stop portion 910 along the axial direction are staggered. Figure 8 In response to the firing mechanism driving movement so that the clip 210 reaches the end actuator 300, the switching member 751 moves to enter the guide rail 752, and the first clutch member 730 moves upward, so that the engaging end 731 of the first clutch member 730 disengages from the slot 401, and the limiting portion 1600 is located on the distal side of the moving member 900 and at least partially overlaps with the axial projection of the first stop portion 910.

[0066] After the clamp feeding mechanism is reset, in response to the firing mechanism's reset movement, the switching member 751 of the first clutch member 730 moves along the guide rail 752 until it disengages from the guide rail 752. The engaging end 731 of the first clutch member 730 then moves along the outer wall of the clamp feeding drive tube 400 until it enters the engaging groove 401. At this point, the switching member 751 of the first clutch member 730 moves downward. Before the engaging end 731 of the first clutch member 730 moves along the outer wall of the clamp feeding drive tube 400 until it enters the engaging groove 401, the axial projections of the limiting portion 1600 and the first stop portion 910 at least partially overlap.

[0067] The firing mechanism includes a wrench 700 and a switching mechanism connected to each other. The switching mechanism is configured to cooperate with the clip feeding mechanism, and the switching mechanism includes the first clutch member 730 described above. Refer to Figure 15 , in another embodiment of the present disclosure, the limiting portion 1600 is connected to the wrench 700. The wrench 700 has an open position and a closed position. In response to the wrench 700 moving from the open position to the closed position, the firing mechanism performs a driving movement. In response to the wrench 700 moving from the closed position to the open position, the firing mechanism performs a reset movement.

[0068] In the initial state (when the firing mechanism is not moving), the wrench 700 is in the open position, and the switching mechanism cooperates with the clip feeding mechanism. At this time, the clip applicator is in the first state. In response to the wrench 700 moving from the open position to the closed position, the firing mechanism performs a driving movement in the first state, and drives the clip feeding mechanism to move through the switching mechanism to send the clip 210 in the clip magazine 200 into the end effector 300. When the clip 210 reaches the end effector 300, the switching mechanism disengages from the clip feeding mechanism and drives the end effector 300 to close so that the clip 210 in the end effector 300 is closed.

[0069] When the wrench 700 reaches the closed position, the clip feeding mechanism resets. In response to the wrench 700 moving from the closed position to the open position, the firing mechanism performs a reset movement, and the switching mechanism resets to cooperate with the clip feeding mechanism again.

[0070] When the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 passes over the first stop portion 910, and before the wrench reaches the open position, the clip applicator is in the second state. If the wrench 700 moves towards the closed position again, the wrench cannot drive the clip to move into the end effector 300, resulting in disorder inside the clip applicator and causing a malfunction in the operation of the clip applicator.

[0071] As described above, in the present disclosure, the firing mechanism is permitted to drive in the first state, but is not permitted to drive in the second state. In the embodiment of the present disclosure, when the wrench 700 moves from the closed position toward the open position until the limit portion 1600 passes over the first stop 910, and before the wrench reaches the open position (i.e., before the switching mechanism resets and re-engages with the clip delivery mechanism), in response to the wrench 700 moving toward the closed position, the firing mechanism drives in the second state. The first stop 910 remains in contact with the limit portion 1600, restricting the wrench 700 from moving toward the closed position, thereby restricting the firing mechanism from driving in the second state. Specifically, only when the wrench 700 moves to the open position, causing the switching mechanism to re-engage with the clip delivery mechanism, can the wrench 700 move toward the closed position again to drive the clip delivery mechanism (i.e., the firing mechanism drives in the first state), thereby driving the clip 210 into the end effector. This prevents internal turbulence within the clip applier and ensures stable operation of the clip applier.

[0072] refer to Figures 15 - 18 The movable member 900 includes a pivoting body 950 and a stop arm 960 connected to each other. The pivoting body 950 is rotatably connected to the housing. For example, the pivoting body 950 has a pivot portion 930, which is rotatably connected to the housing via a pin 980. The stop arm 960 has an avoidance side 961 and an abutting side 962. The first stop portion 910 is disposed on the abutting side 962 of the stop arm 960.

[0073] The limiting portion 1600 has a first position and a second position. Figures 15 - 16 When the wrench 700 is in the open position, the limiting portion 1600 is in the first position. Figure 22 When the wrench 700 is located in the closed position, the limiting portion 1600 is located in the second position.

[0074] refer to Figures 15 - 16 and Figures 20 - 22 In response to the movement of the wrench 700 from the open position to the closed position, the limiting portion 1600 moves from the first position to the second position via the avoidance side 961 of the stop arm 960. Because the first stop portion 910 is disposed on the abutting side 962 of the stop arm 960, when the limiting portion 1600 moves along the avoidance side 961 of the stop arm 960, the first stop portion 910 and the limiting portion 1600 are offset, and the first stop portion 910 avoids the limiting portion 1600, allowing the limiting portion 1600 to pass over the first stop portion 910.

[0075] refer to Figures 22 - 25, in response to the wrench 700 moving from the closed position towards the open position, such that when the limiting portion 1600 moves from the second position to abut against the first stop portion 910 via the abutting side 962 of the stop arm 960, the pivot body 950 rotates, causing the first stop portion 910 to avoid the limiting portion 1600, so that the wrench 700 can continue to move to the open position to move the limiting portion 1600 to the first position.

[0076] Reference Figure 26 , when the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 passes over the first stop portion 910, and before the wrench reaches the open position, in response to the wrench 700 moving towards the closed position again, the limiting portion 1600 moves towards the second position via the abutting side 962 of the stop arm 960 to remain in abutment with the first stop portion 910, thereby restricting the movement of the wrench 700 towards the closed position.

[0077] The stop mechanism further has a second stop portion 920, reference Figures 15 - 16 and Figure 18 , and the second stop portion 920 is also provided on the abutting side 962 of the stop arm 960.

[0078] The clamping pliers further has a blocking portion 120, reference Figure 17 , and the blocking portion 120 is provided on the limiting portion 1600. For example, the limiting portion 1600 includes a plurality of side walls, and the blocking portion 120 is provided on one of the side walls of the limiting portion 1600. The blocking portion 120 may protrude relative to the side wall of the limiting portion 1600, or the blocking portion 120 may be provided without protruding relative to the side wall of the limiting portion 1600. For example, one of the side walls of the limiting portion 1600 constitutes the blocking portion 120.

[0079] Reference Figure 26 , when the wrench 700 moves from the closed position towards the open position until the limiting portion 1600 passes over the first stop portion 910, and before the wrench reaches the open position, in response to the wrench 700 moving towards the closed position, when the limiting portion 1600 moves towards the second position via the abutting side 962 of the stop arm 960 to abut against the first stop portion 910, the blocking portion 120 abuts against the second stop portion 920 to restrict the movement of the moving member 900, and the first stop portion 910 cannot avoid the limiting portion 1600, so that the first stop portion 910 remains in abutment with the limiting portion 1600.

[0080] Reference Figure 15 and Figures 20 - 22 , the clamping pliers further has a stopping portion 130. When the wrench 700 is in the open position, the stop arm 960 abuts against the stopping portion 130 to restrict the rotation of the pivot body 950 in the first rotation direction.

[0081] The stop arm 960 has a connecting end and a free end, wherein the connecting end is connected to the pivot body and the free end can move relative to the pivot body. The free end of the stop arm 960 is provided with a conversion portion 970.

[0082] In response to the wrench 700 moving from the open position to the closed position, the stop arm 960 abuts against the stop portion 130 to limit the pivot body 950 from rotating in the first rotation direction. When the limiting portion 1600 moves from the first position via the avoidance side 961 of the stop arm 960 to abut against the conversion portion 970, the free end of the stop arm 960 moves so that the conversion portion 970 avoids the limiting portion 1600, allowing the limiting portion 1600 to move to the second position.

[0083] When the limiting portion 1600 moves from the first position via the avoidance side 961 of the stop arm 960 to abut against the conversion portion 970, the pivot body 950 tends to rotate along the first rotation direction, and under the action of the stop portion 130, the pivot body 950 is restricted from rotating, so that the free end of the stop arm 960 is pushed by the limiting portion 1600 and moves, causing the conversion portion 970 to avoid the limiting portion 1600, so that the limiting portion 1600 moves to the second position.

[0084] The pivoting body 950 is not restricted from rotating in the second rotational direction. In response to the wrench 700 moving from the closed position to the open position, when the limiting portion 1600 moves from the second position to abut against the conversion portion 970, the pivoting body 950 rotates in the second rotational direction to allow the conversion portion 970 to clear the limiting portion 1600, thereby causing the limiting portion 1600 to move to the abutting side 962 of the stop arm 960.

[0085] by Figure 15 For reference, the first rotation direction is clockwise and the second rotation direction is counterclockwise.

[0086] The wrench 700 is movably connected to the housing. For example, the wrench 700 has a pivot end pivotally connected to the housing. In response to the wrench 700 rotating about the pivot end, the wrench 700 switches between an open position and a closed position. The limit portion 1600 is provided on the wrench 700, and the movement trajectory of the limit portion 1600 is arc-shaped.

[0087] The motion trajectory of the wrench 700 from the open position to the closed position at least partially overlaps with the motion trajectory of the wrench from the closed position to the open position. Therefore, the motion trajectory of the limiter 1600 from the first position to the second position at least partially overlaps with the motion trajectory of the limiter 1600 from the second position to the first position. During the process of the limiter 1600 moving from the first position to the second position via the avoidance side 961 of the stop arm 960, the limiter 1600 abuts against the conversion portion 970. Therefore, during the process of the limiter 1600 moving from the second position to the first position, the limiter 1600 also abuts against the conversion portion 970.

[0088] refer to Figures 23 - 24 During the movement of the wrench 700 from the closed position to the open position, the limiting portion 1600 first moves from the second position toward the first position until it abuts the conversion portion 970. The moving member 900 then rotates in the second rotational direction, causing the limiting portion 1600 to enter the abutting side 962 of the stop arm 960. The limiting portion 1600 enters the abutting side 962 of the stop arm 960 and abuts the first stop portion 910. The moving member 900 then continues to rotate in the second rotational direction, causing the first stop portion 910 to clear the limiting portion 1600. This allows the blocking portion 120 to move along the second stop portion 920 and the sidewall of the abutting side 962 of the stop arm 960 until it disengages from the stop arm 960, until the limiting portion 1600 reaches the first position.

[0089] refer to Figure 15 The conversion portion 970 is disposed on the avoidance side 961 of the stop arm 960 and extends toward the abutting side 962 of the stop arm 960. For example, the conversion portion 970 extends toward the abutting side 962 of the stop arm 960 until it engages with the first stop portion 910 located on the abutting side 962.

[0090] refer to Figure 15 The second stopper 920 is disposed on the abutting side 962 of the stopper arm 960 . For example, the second stopper 920 is disposed on a sidewall of the abutting side 962 of the stopper arm 960 and smoothly transitions therewith. The second stopper 920 is connected to the first stopper 910 .

[0091] refer to Figure 25 In response to the wrench 700 moving from the closed position to the open position, the limiting portion 1600 moves from the second position to the abutting side 962 of the moving member 900 and the first stopper 910 avoids the limiting portion 1600. Then, the blocking portion 120 moves along the side wall of the abutting side 962 of the moving member 900. Figure 26 The wrench 700 moves from the closed position toward the open position until the limiting portion 1600 passes the first stop portion 910, and before the wrench reaches the open position, in response to the wrench 700 moving toward the closed position again so that the limiting portion 1600 moves toward the second position via the abutting side 962 of the stop arm 960 to abut against the first stop portion 910, the blocking portion 120 moves along the side wall of the abutting side 962 to abut against the second stop portion 920 to limit the movement of the moving part 900, and the first stop portion 910 cannot avoid the limiting portion 1600, so that the first stop portion 910 remains in abutment with the limiting portion 1600.

[0092] refer to Figure 16When the limiting portion 1600 is in the first position, the limiting portion 1600 does not contact the moving member 900. In response to the limiting portion 1600 moving from the first position via the avoidance side 961 of the moving member 900 to abutting the conversion portion 970, the limiting portion 1600 does not contact the moving member 900, thereby reducing the resistance to the movement of the wrench 700. In response to the limiting portion 1600 moving from the first position via the avoidance side 961 of the moving member 900 to abutting the conversion portion 970, the free end of the stop arm 960 moves, causing the conversion portion 970 to avoid the limiting portion 1600, allowing the limiting portion 1600 to separate from the moving member 900 and continue to move to the second position.

[0093] In response to the limiting portion 1600 moving from the second position to the abutting side 962 of the moving part 900 and the first stop portion 910 avoiding the limiting portion 1600, the blocking portion 120 moves along the side wall of the abutting side 962 of the moving part 900, so that the moving part 900 rotates along the second rotation direction. When the limiting portion 1600 moves to the first position, the limiting portion 1600 disengages from the moving part 900.

[0094] Under the action of the elastic member 940, the movable member 900 tends to rotate in the first rotation direction. When the limiting portion 1600 moves from the second position to the first position via the abutting side 962 of the stop arm 960, the limiting portion 1600 disengages from the movable member 900, and the movable member 900 rotates back in the first rotation direction.

[0095] refer to Figure 17 The wrench 700 includes an extension arm 715 extending toward the moving member 900. The extension arm 715 avoids the moving member 900, for example, by providing a notch 7151 therein so that the extension arm 715 always avoids the moving member 900 during movement. Alternatively, the extension arm 715 and the moving member 900 are positioned on different planes. A stopper 1600 is provided on the extension arm 715 of the wrench 700.

[0096] The switching mechanism includes the aforementioned first clutch 730. In the initial state (with the firing mechanism unactivated), the handle 700 is in the open position, and the engaging end 731 of the first clutch 730 engages the engaging slot 401 of the clip delivery drive tube 400, thereby cooperating with the switching mechanism. In response to movement of the handle 700 from the open position toward the closed position, the engaging end 731 of the first clutch 730 disengages from the engaging slot 401 of the clip delivery drive tube 400 as the clip delivery mechanism delivers the clip 210 to the end effector 300.

[0097] The wrench 700 also has an intermediate position, which is located between the open position and the closed position. In response to the wrench 700 moving from the open position to the intermediate position, the switching mechanism cooperates with the clip feeding mechanism, and the wrench 700 drives the switching mechanism to move so as to drive the clip feeding mechanism to move, thereby sending the clip 210 of the clip magazine 200 into the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the switching mechanism is disengaged from the clip feeding mechanism, and the switching mechanism no longer drives the clip feeding mechanism to move.

[0098] As described above, the clip applicator of the present disclosure further includes a clip applying mechanism. The clip applying mechanism is configured to drive the end effector 300 to close so that the clip 210 in the end effector 300 is closed. In response to the wrench 700 moving from the intermediate position to the closed position, the switching mechanism drives the clip applying mechanism to move to drive the end effector 300 to close, so that the clip 210 in the end effector 300 is closed.

[0099] In response to the wrench 700 moving from the open position to the intermediate position, the limiting portion 1600 moves from the first position along the avoidance side 961 of the moving member 900 towards the second position, and there is no contact between the limiting portion 1600 and the moving member 900. At the moment when the clip feeding is completed, the wrench 700 is in the intermediate position, the limiting portion 1600 is still located on the avoidance side 961 of the moving member 900, and the limiting portion 1600 does not cross the conversion portion 970. In response to the wrench 700 moving from the intermediate position to the closed position, the limiting portion 1600 moves to abut against the conversion portion 970, and the free end of the stop arm 960 moves so that the conversion portion 970 avoids the limiting portion 1600, thereby enabling the limiting portion 1600 to cross the conversion portion 970 and move to the second position.

[0100] The structure of the clip applicator of some embodiments of the present disclosure will be further described below.

[0101] Refer to Figure 29 , the clip 210 includes a first clip arm 211, a second clip arm 212, and a connecting portion 213 located between the first clip arm 211 and the second clip arm 212. The connecting portion 213 is flexible, so that the first clip arm 211 and the second clip arm 212 can pivot relative to each other. One end of the first clip arm 211 is connected to the connecting portion 213, and the other end is provided with two first ear portions 214, one first ear portion 214 is provided on one side of the first clip arm 211, and the other first ear portion 214 is provided on the opposite side of the first clip arm 211. One end of the second clip arm 212 is connected to the connecting portion 213, and the other end is provided with a engaging portion 216. Specifically, the engaging portion 216 is a curved C-shaped hook portion. Two second ear portions 215 are provided near the engaging portion 216 of the second clip arm 212, one second ear portion 215 is provided on one side of the second clip arm 212, and the other second ear portion 215 is provided on the opposite side of the second clip arm 212.

[0102] The size of the engaging portion 216 is larger than the distance between the two first ear portions 214, and the two first ear portions 214 have a certain elasticity and can be deformed. Thus, under the drive of an external force, the first clamping arm 211 and the second clamping arm 212 approach each other, causing the engaging portion 216 to move between the two first ear portions 214. The two first ear portions 214 are deformed under the action of the engaging portion 216, and the engaging portion 216 is clamped between the two first ear portions 214, so that the first clamping arm 211 and the second clamping arm 212 are fully clamped, and thus the blood vessel or tissue placed between the first clamping arm 211 and the second clamping arm 212 can be effectively clamped and hemostatic.

[0103] Reference Figures 27 - 28 , the clip cartridge 200 includes a bottom 203 extending along the axis and opposite first and second side portions 201 and 202. When the clip 210 is installed in the clip cartridge 200, it is compressed due to the size and internal space of the clip cartridge 200. Specifically, the first clamping arm 211 of the clip 210 abuts against the first side portion 201, and the second clamping arm 212 abuts against the second side portion 202, so that the two clamping arms are compressed but not compressed to the closed state, that is, the two clamping arms of the clip 210 approach each other but are not engaged.

[0104] A plurality of abutting components are formed on the bottom 203 of the clip cartridge 200 along its length, and one abutting component is provided at each station. Reference Figure 28 , each abutting component includes a first transverse barb 204 and a second transverse barb 205. The first transverse barbs 204 are in a row, the second transverse barbs 205 are in a row, the first transverse barbs 204 and the second transverse barbs 205 are arranged in two rows on the bottom 203. The first transverse barbs 204 are arranged close to the first side portion 201, and the second transverse barbs 205 are arranged close to the second side portion 202. The adjacent transverse barbs in each row are arranged at equal intervals along the axis. Each transverse barb inclines from the bottom 203 of the clip cartridge 200 towards the distal end of the clip cartridge 200 and towards the inside of the clip cartridge 200, that is, the proximal end of each transverse barb is fixed to the bottom 203, and the distal end is movable. In this embodiment, the transverse barb is an elastic sheet with the distal end upturned. The distal end of each transverse barb is an inclined end.

[0105] When the first transverse barb 204 of each abutting component abuts against one of the first ear portions 214 of the clip 210 from behind, the second transverse barb 205 abuts against one of the second ear portions 215 of the same clip 210 from behind. Specifically, when the inclined end of the first transverse barb 204 catches one of the first ear portions 214, the inclined end of the second transverse barb 205 catches the second ear portion 215 on the same side as the first ear portion 214. Thus, each abutting component can prevent the clip 210 from entering the adjacent proximal station in the clip cartridge 200 from the current station.

[0106] When the clip 210 moves axially forward, the clip 210 slides into contact with the transverse barbs in front and presses the transverse barbs towards the bottom 203, so that the clip 210 can pass through the transverse barbs smoothly, enabling the clip 210 to enter the adjacent distal station from the current station. When the clip 210 moves axially forward, the first clip arm 211 of the clip 210 slides past the first transverse barb 204 in front of it. At the same time, the second clip arm 212 of the clip 210 slides past the second transverse barb 205 in front of it, causing both the first transverse barb 204 and the second transverse barb 205 to bend towards the bottom 203, so that the clip 210 can pass through the first transverse barb 204 and the second transverse barb 205 smoothly to enter the adjacent front-end station.

[0107] The housing of the clip applicator is divided into a head housing 100 and a handle housing 110 extending from the lower side of the head housing 100 according to the positional relationship. The handle housing 110 and the wrench 700 form a handle assembly. The operator can hold the handle housing 110 with one hand and pull the wrench 700 with a finger, causing the wrench 700 to move relative to the handle housing 110 to drive the switching mechanism to move, so that the clip feeding mechanism performs a clip feeding action, the clip applying mechanism performs a clip applying action, and the clip pushing mechanism performs a clip pushing action.

[0108] The wrench 700 can be in three special positions when moving towards the handle housing 110: the open position, the intermediate position, and the closed position. In response to the wrench 700 moving from the open position to the closed position, the firing mechanism performs a driving movement. In response to the wrench 700 moving from the closed position to the open position, the firing mechanism performs a reset movement.

[0109] At the initial moment, the user does not operate the wrench 700, and the position where the wrench 700 is located is the open position. When the user operates the wrench 700 and the clip feeding is completed, the clip 210 is sent into the end effector 300, and the position where the wrench 700 is located is the intermediate position. When the user operates the wrench 700 and the clip application is completed, the clip 210 located in the end effector 300 is applied to the tissue or blood vessel, and the position where the wrench 700 is located is the closed position.

[0110] The clip applying mechanism includes a clip applying drive tube 500 and a sleeve 510. In response to the firing mechanism performing a driving movement to be disengaged from the clip feeding mechanism, the firing mechanism abuts against the clip applying drive tube 500 to drive the clip applying drive tube 500 to move, causing the sleeve 510 to move so that the end effector is at least partially received within the sleeve 510, thereby closing the end effector.

[0111] Reference Figure 34, The clip - applying drive tube 500 is received within the head housing 100. The sleeve 510 is sleeved outside the clip cartridge 200, and the sleeve 510 also forms part of the shaft assembly 1100. The proximal end of the sleeve 510 is connected to the clip - applying drive tube 500, and the distal end of the sleeve 510 cooperates with the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the clip - applying drive tube 500 moves distally to drive the sleeve 510 to move distally, thereby driving the end effector 300 to close.

[0112] The clip - applying pliers further include a first reset member 1200, and the first reset member 1200 is a spring. The first reset member 1200 is disposed within the head housing 100 of the clip - applying pliers and is sleeved outside the clip - applying drive tube 500. The proximal end of the first reset member 1200 abuts against the baffle 501 on the outer surface of the clip - applying drive tube 500, and the distal end abuts against the inner wall of the head housing 100. The first reset member 1200 is configured to store energy when the clip - applying mechanism advances, and the first reset member 1200 restores its deformation to release the energy, thereby providing power for the reset and retraction of the clip - applying mechanism.

[0113] The end effector 300 includes a first jaw 310 and a second jaw 320 that are pivotally connected to the distal end of the clip cartridge 200 respectively. The clip - applying pliers further include a second reset member, and the second reset member is located between the first jaw 310 and the second jaw 320, and the second reset member is a spring. In response to the clip - applying drive tube 500 driving the sleeve 510 to move distally, the end effector 300 is at least partially received within the sleeve 510 from the distal end of the sleeve 510 such that the end effector 300 closes. At this time, the second reset member between the two jaws is compressed, and at the same time, the first reset member 1200 is also compressed. When the clip - applying is completed, under the action of the first reset member 1200, the sleeve 510 moves proximally, the end effector 300 extends from the distal end of the sleeve 510, and the second reset member releases energy to open the end effector 300.

[0114] Reference Figure 31 and Figure 33 , the shaft assembly 1100 further includes a base 1110, the base 1110 has relatively high rigidity, the base 1110 is partially disposed within the sleeve 510 and partially disposed within the head housing 100. The base 1110 is mounted outside the bottom 203 of the clip cartridge 200. The clip 210, the first side portion 201 of the clip cartridge 200, and the second side portion 202 of the clip cartridge 200 are all located inside the bottom 203, and the inside and the outside refer to both sides of the plane where the bottom 203 is located.

[0115] The clip - feeding mechanism includes a clip - feeding assembly and a clip - feeding drive tube 400. Reference Figure 34, part of the clip feeding drive tube 400 is located inside the clip applying drive tube 500 and can axially move within the clip applying drive tube 500. The proximal end of the clip feeding assembly is connected to the clip feeding drive tube 400. In response to the wrench 700 moving from the open position to the intermediate position, the clip feeding drive tube 400 moves distally to drive the clip feeding assembly to move distally, so that the clip feeding assembly drives the clip 210 to move from the clip magazine 200 to the end effector 300. Refer to Figure 31 and Figure 33 , a guiding groove 1111 for receiving the clip feeding assembly and allowing its axial movement is provided on the base 1110. A guiding surface 1112 is provided at the distal end of the guiding groove 1111. The guiding surface 1112 is an inclined surface and is disposed at an angle to the axis. When the base 1110 is installed on the clip magazine 200, the guiding surface 1112 faces proximally and is inclined towards the clip magazine 200. An inlet 206 corresponding to the guiding surface 1112 is provided at the bottom 203 of the clip magazine 200.

[0116] The clip applying pliers further include a third reset member 1400, and the third reset member 1400 is a spring. Refer to Figure 34 , a rib is provided on the inner wall of the clip applying drive tube 500. The distal end of the third reset member 1400 abuts against the rib of the clip applying drive tube 500, and the proximal end abuts against the distal end surface of the clip feeding drive tube 400. The third reset member 1400 is configured to store energy when the clip feeding mechanism advances, and the third reset member 1400 restores its deformation to release the energy, thereby providing power for the reset and retraction of the clip feeding mechanism.

[0117] Refer to Figures 30 - 33 , the clip feeding assembly includes a clip feeding rod 410, an elastic rod 420, and a clip feeding block 430. The proximal end of the clip feeding rod 410 is connected to the clip feeding drive tube 400, the distal end of the clip feeding rod 410 is connected to the proximal end of the elastic rod 420, and the distal end of the elastic rod 420 is connected to the clip feeding block 430. The clip feeding rod 410 has high rigidity and is not easily deformed, avoiding bending during axial movement in the guiding groove 1111 and causing blockage of the clip feeding assembly.

[0118] Refer to Figures 30 - 33 , the clip feeding drive tube 400 drives the clip feeding rod 410 to move distally, so that the elastic rod 420 and the clip feeding block 430 also move distally. At this time, the third reset member 1400 deforms. When the elastic rod 420 moves distally until the clip feeding block 430 abuts against the guiding surface 1112, the elastic rod 420 begins to bend, and the clip feeding block 430 enters between the first clip 220 and the second clip in the clip magazine 200 obliquely along the guiding surface 1112 from the inlet 206 of the clip magazine 200, and abuts against the rear end of the first clip 220 to push it forward into the end effector 300.

[0119] After the clip 210 is clamped in the end effector 300, the clip feeding block 430 at the distal end of the elastic rod 420 continues to abut against the rear end of the clip 210 to prevent the clip 210 from moving proximally (i.e., backward) during the clamping process. Closing the end effector 300 closes the clip 210, and then opening the end effector 300 disengages the clip 210 from the end effector 300, thus completing the clamping. After the end effector 300 is closed, the clip feeding mechanism is reset under the action of the third reset member 1400. Specifically, the clip feeding drive tube 400 moves proximally, causing the clip feeding rod 410 to move axially proximally in the guide groove 1111 to drive the elastic rod 420 and the clip feeding block 430 to retract from the inlet 206 to the guide groove 1111 along the guide surface 1112.

[0120] Reference Figures 30 - 33 and Figure 35 The clip pushing mechanism includes a clip pushing seat 600. The proximal end of the clip pushing seat 600 is located inside the clip feeding drive tube 400, and the other parts of the clip pushing seat 600 extend distally and are arranged inside the sleeve 510. The base 1110 is installed on one side of the clip cartridge 200, and the clip pushing seat 600 is arranged on the opposite side of the clip cartridge 200. The clip pushing seat 600 can move axially inside the clip feeding drive tube 400.

[0121] Reference Figures 30 - 33 and Figure 35 Corresponding to the M workstations of the clip cartridge 200, M side cavities 601 are arranged at intervals on the clip pushing seat 600, and a clip pushing block 610 is arranged in each side cavity 601. Each clip pushing block 610 is connected to the clip pushing seat 600 through an elastic element 620, and the elastic element 620 is, for example, a spring. The elastic element 620 provides a force for the clip pushing block 610 to rotate outwardly towards the outside of the side cavity 601, causing the distal end of the clip pushing block 610 to protrude from the side cavity 601 and incline towards the clip 210. When the clip pushing seat 600 advances axially, the distal ends of each clip pushing block 610 respectively abut against and push a clip 210 forward, causing the clip 210 to move axially forward, and the clip 210 smoothly passes through the first transverse barb 204 and the second transverse barb 205, so that the clip 210 enters the adjacent distal workstation from the current workstation. Thus, the clip pushing seat 600 can push the other clips (clips 210 other than the first clip 220) in the clip cartridge 200 forward by one workstation. When the clip pushing seat 600 retreats axially, since the clip 210 cannot retreat under the action of the first transverse barb 204 and the second transverse barb 205, the clip pushing block 610 abuts against the clip 210 and rotates into the side cavity 601 under the extrusion of the clip 210, avoiding the clip 210, so as to prevent the clip pushing block 610 from driving the clip 210 to retreat when retreating, so that the clip pushing block 610 moves to one side of the corresponding clip 210 in the radial direction of the clip cartridge 200 and overlaps with it.

[0122] In response to the wrench 700 moving from the open position to the intermediate position, the clip feeding mechanism drives the first clip 220 to move from the clip bin 200 to the end effector 300. In response to the wrench 700 moving from the intermediate position to the closed position, the clamping mechanism drives the end effector 300 to close so that the clip 210 in the end effector 300 is closed. When the wrench 700 is in the closed position, the respective pusher blocks 610 are located at the rear sides of the second clip to the Nth clip. In response to the wrench 700 moving from the closed position to the open position, the plurality of pusher blocks 610 move forward to respectively drive the second clip to the Nth clip to move forward.

[0123] Reference Figure 2 and Figures 34 - 36 , the switching mechanism includes a seat body 720, a first clutch member 730, a clutch switching mechanism, and a second clutch member 740. The seat body 720 has two kidney-shaped holes 721, and the two kidney-shaped holes 721 are arranged opposite to each other in a direction perpendicular to the paper surface (taking the placement angle of the clamping pliers in Figure 2 as a reference). The first clutch member 730 is received in the seat body 720, and the second clutch member 740 is the distal end face of the seat body 720.

[0124] Reference Figure 34 , the clip feeding drive tube 400 is sleeved outside the pusher seat 600. A part of the clip feeding drive tube 400 is located inside the clamping drive tube 500 and can axially move inside the clamping drive tube 500. A circumferentially extending slot 401 is provided at the proximal end of the clip feeding drive tube 400. In the initial state (when the firing mechanism is not moving), the seat body 720 is sleeved outside the clip feeding drive tube 400, the engaging end 731 of the first clutch member 730 is inserted into the slot 401, and the switching end 732 of the first clutch member 730 is connected to the clutch switching mechanism. Taking Figure 34 the angle as a reference, the upper end of the first clutch member 730 is the switching end 732, and the bottom end is the engaging end 731.

[0125] Reference Figure 34 , the clutch switching mechanism includes a switching member 751 and a guide rail 752. The switching end 732 of the first clutch member 730 is connected to the switching member 751. The guide rail 752 is provided inside the head housing 100. The clamping pliers include two head housings 100 symmetrically arranged along the axis. The guide rail 752 is symmetrically arranged on the inner walls of the two head housings 100. That is, the guide rail 752 is provided on the inner wall of each head housing 100.

[0126] The switching member 751 is received in the base body 720. One end of the switching member 751 extends out from one of the kidney-shaped holes 721, and the other end of the switching member 751 extends out from the other kidney-shaped hole 721. Each kidney-shaped hole 721 extends in the vertical direction, such that the switching member 751 can move in the vertical direction. When the clip 210 is sent into the end effector 300, one end of the switching member 751 is located on the guide rail 752 on the inner wall of one of the head housings 100 and can move on the guide rail 752, and the other end of the switching member 751 is located on the guide rail 752 on the inner wall of the other head housing 100 and can move on the guide rail 752.

[0127] In the initial state (i.e., when the firing mechanism is not moving), the wrench 700 is in the open position. The switching mechanism cooperates with the clip feeding mechanism. The wrench 700 pushes against the base body 720 of the switching mechanism, causing the base body 720 to move distally. The first clutch member 730 advances accordingly and drives the clip feeding mechanism to move distally to perform the clip feeding action.

[0128] When the switching member 751 does not enter the guide rail 752, the engaging end 731 of the first clutch member 730 engages with the slot 401, and the firing mechanism cooperates with the clip feeding mechanism. When the switching member 751 enters the guide rail 752, the switching member 751 drives the first clutch member 730 to move upward, causing the first clutch member 730 to disengage from the slot 401 of the clip feeding drive tube 400 and separate from the clip feeding drive tube 400.

[0129] During the process of the wrench 700 driving the clip feeding mechanism to move distally, the second clutch member 740 (the distal end face of the base body 720) gradually approaches the proximal end face of the clamping drive tube 500. At the moment when the first clutch member 730 separates from the clip feeding drive tube 400, the second clutch member 740 abuts against the proximal end face of the clamping drive tube 500 to push the clamping drive tube 500 to move, thereby driving the clamping mechanism to move to perform the closing action of the end effector 300.

[0130] Reference Figure 6 and Figure 34 The first clutch mechanism further includes a biasing element 760. For example, the biasing element 760 is a spring. The base body 720 further has an abutting portion 722. The first clutch member 730 further has a holding portion 733. The holding portion 733 is located between the switching end 732 and the engaging end 731 of the first clutch member 730. For example, the holding portion 733 is closer to the engaging end 731 of the first clutch member 730.

[0131] The biasing element 760 is mounted on the first clutch member 730. The upper end of the biasing element 760 abuts the abutting portion 722 of the base 720, and the lower end of the biasing element 760 abuts the abutting portion 733 of the first clutch member 730. In the initial state (when the firing mechanism is not moving), the biasing element 760 is in a compressed state. The biasing element 760 applies a downward force to the first clutch member 730, causing the engaging end 731 of the first clutch member 730 to more stably abut the engaging groove 401 of the clip feeding drive tube 400, thereby improving the stability of the clip feeding operation.

[0132] In response to the switching member 751 entering the guide rail 752, the switching member 751 drives the first clutch member 730 to move upward, causing the first clutch member 730 to disengage the clamp feed drive tube 400 from the engaging groove 401 and separate from the clamp feed drive tube, further compressing the biasing element 760, thereby causing the first clutch member 730 to have a downward movement tendency. In response to the switching member 751 moving proximally to disengage the guide rail 752, the biasing element 760 drives the first clutch member 730 to move downward until the engaging end 731 abuts against the clamp feed drive tube 400.

[0133] The clip applier also includes a backstop mechanism that abuts the clip feed mechanism to prevent it from moving backward when the first clutch member 730 of the switching mechanism is disengaged from the clip feed mechanism. When the wrench 700 is in the neutral position and the user releases the wrench 700, the backstop mechanism remains in place to prevent it from moving backward.

[0134] The clip applier also includes a coupling mechanism. One portion of the coupling mechanism is connected to the base 720, and another portion is connected to the proximal end of the clamp pusher 600. A distance exists between the one portion of the coupling mechanism and the other portion. The coupling mechanism allows the clamp pusher to move backward and accumulate energy as the clamp feeder advances, resulting in asynchronous clamp delivery and clamp pushing.

[0135] refer to Figure 2 、 Figure 6 and Figure 34, the adapter mechanism includes a first rack 810, an intermediate member 820, and a second rack 830. The intermediate member 820 includes a first gear and a second gear. The first rack 810 meshes with the first gear, and the second rack 830 meshes with the second gear. The first gear and the second gear are coaxially arranged and can rotate synchronously. The clip feeding drive tube 400 is drivingly connected to the first rack 810, and the clip feeding drive tube 400 and the first rack 810 move in the same direction. As described above, the seat body 720 of the switching mechanism is drivingly connected to the clip feeding drive tube 400, and the seat body 720 is connected to the first rack 810. The clip pushing seat 600 is connected to the second rack 830. The moving directions of the first rack 810 and the second rack 830 are opposite. When the first rack 810 moves distally, the second rack 830 moves proximally. Both the first rack 810 and the second rack 830 are arranged axially, and the intermediate member 820 is arranged between the first rack 810 and the second rack 830. The clip applying pliers further include a fourth reset member 1500. One end of the fourth reset member 1500 is connected to the head housing 100, and the other end is connected to the proximal end of the second rack 830. The fourth reset member 1500 is, for example, a spring.

[0136] When the wrench 700 is in the open position, the plurality of clip pushing blocks 610 are respectively located on the front sides of the second clip to the Nth clip. The user presses the wrench 700 to move the wrench 700 from the open position towards the middle position. The wrench 700 abuts against the seat body 720 of the switching mechanism, causing the switching mechanism to move distally. The first clutch member 730 advances with the switching mechanism and drives the clip feeding mechanism to move distally to perform a clip feeding action. At the same time, the first rack 810 moves distally. During the process of the first rack 810 moving distally, the first rack 810 drives the second rack 830 to retreat through the intermediate member 820. Since the second rack 830 is connected to the clip pushing seat 600, the clip pushing seat 600 is further driven to retreat, causing the fourth reset member 1500 to store energy, and the plurality of clip pushing blocks 610 respectively move proximally.

[0137] When the wrench 700 reaches the middle position, the switching member 751 of the switching mechanism moves onto the guide rail 752. The first clutch member 730 is separated from the clip feeding drive tube 400, and the forward stroke of the clip feeding mechanism ends (the clip feeding action is completed). The clip 210 enters the end effector 300. At the same time, the second clutch member 740 abuts against the proximal end face of the clip applying drive tube 500 to push the clip applying drive tube 500 to move.

[0138] When the wrench 700 is in the middle position, press the wrench 700 so that the wrench 700 moves from the middle position towards the closed position. The anti-retreat mechanism gradually disengages from the clip feeding drive tube 400. Under the action of the wrench 700, the switching mechanism continues to push the clip applying mechanism and the first rack 810 forward. At the same time, the first rack 810 continues to drive the second rack 830 to retreat through the intermediate member 820. Since the second rack 830 is connected to the clip pushing seat 600, the clip pushing seat 600 continues to retreat. When the clip pushing seat 600 retreats, the fourth reset member 1500 continues to store energy. The clip applying drive tube 500 drives the sleeve 510 forward to close the end effector 300. When the wrench 700 reaches the closed position, the end effector 300 is closed (the clip applying action is completed), the energy storage of the fourth reset member 1500 ends, the anti-retreat mechanism completely disengages from the clip feeding drive tube 400, and the clip feeding drive tube 400 is reset under the action of the third reset member 1400. Each clip pushing block 610 moves proximally to the rear side of the second clip to the Nth clip. Still taking the clip pushing block 610 that was on the front side of the second clip when the wrench 700 was in the open position as an example, this clip pushing block 610 moves to the rear side of the second clip. Release the wrench 700, the clip applying mechanism is reset under the action of the first reset member 1200, and the clip pushing seat 600 advances under the action of the fourth reset member 1500 to move the other clips in the clip magazine 200 forward by one station (the clip pushing action is completed).

[0139] Reference Figure 2 and Figure 38 , the anti-retreat mechanism includes a guiding pivot member 1000 and a biasing spring 1060. Reference Figures 37 - 38 , the guiding pivot member 1000 has a pivoting portion 1070. The pivoting portion 1070 is pivotally connected to the head housing 100 through a rotating shaft, so that the guiding pivot member 1000 can rotate relative to the head housing 100 around the rotating shaft. The biasing spring 1060 gives a thrust to the guiding pivot member 1000, so that the guiding pivot member 1000 has a tendency to rotate clockwise (taking the angle of Figure 2 as a reference). The guiding pivot member 1000 has an anti-retreat portion 1040. The wrench 700 is movably connected to the guiding pivot member 1000. During the process of the wrench 700 moving from the open position to the middle position, the biasing spring 1060 pushes the guiding pivot member 1000 to rotate, so that the anti-retreat portion 1040 approaches and abuts against the clip feeding drive tube 400 to prevent it from retreating.

[0140] Reference Figures 37 - 38, the guiding pivot member 1000 further has a first pivot arm 1010 extending proximally from the pivot joint portion 1070, a second pivot arm 1020 extending distally from the pivot joint portion 1070, and a third pivot arm 1030 extending obliquely upward from the pivot joint portion 1070. The first pivot arm 1010 and the third pivot arm 1030 form an obtuse angle. The guiding pivot member 1000 further has a force-receiving portion 1080 and a guiding portion 1090. The end of the first pivot arm 1010 is the force-receiving portion 1080, the end of the second pivot arm 1020 is the guiding portion 1090, and the end of the third pivot arm 1030 is a stop portion 1040.

[0141] One end of the biasing spring 1060 abuts against the force-receiving portion 1080, and the other end abuts against the housing. The first pivot arm 1010 and the second pivot arm 1020 form a lever with the pivot axis of the pivot joint portion 1070 as the fulcrum. When the biasing spring 1060 and the guiding portion 1090 are located at both ends of the lever and the biasing spring 1060 is in a compressed state, the biasing spring 1060 exerts a thrust on the force-receiving portion 1080, causing the guiding pivot member 1000 to tend to rotate clockwise. That is, the stop portion 1040 and the guiding portion 1090 also tend to rotate clockwise (with Figure 2 the placement angle of the clip applicator in the figure as a reference).

[0142] The wrench 700 is movably connected to the housing. For example, the wrench 700 has a pivot end pivotally connected to the housing, and the wrench 700 can rotate about the pivot end. The wrench 700 further has a guiding channel 710. Refer to Figures 37 - 38 , in this embodiment, the stop mechanism further includes a guiding member 1050, and the guiding member 1050 is disposed on the guiding portion 1090 of the guiding pivot member 1000. The guiding member 1050 is partially received in the guiding channel 710. When the wrench 700 rotates about its pivot end, the guiding channel 710 rotates accordingly, driving the guiding member 1050 to rotate about the pivot axis of the pivot joint portion 1070 under the action of the biasing spring 1060. The guiding channel 710 is a closed channel surrounded on all sides, and the guiding member 1050 is located in the guiding channel 710 and cannot leave the guiding channel 710. Therefore, in this embodiment, the guiding member 1050 cannot be separated from the wrench 700.

[0143] Refer to Figure 40 , the guiding channel 710 includes a starting point a, a stop point b, and an ending point c. The distance from the starting point a to the pivot end of the wrench 700 and the distance from the ending point c to the pivot end of the wrench 700 are both smaller than the distance from the stop point b to the pivot end of the wrench 700. That is, the position of the stop point b is higher than the starting point a and the ending point c.

[0144] The guiding channel 710 includes a main channel 711 and only one sub-channel 712 extending from an opening 7111 of the main channel 711. The opening 7111 is located between the two ends of the main channel 711. The sub-channel 712 extends from the opening 7111 of the main channel 711 in a direction away from the pivoting end of the wrench 700, that is, the distance between the sub-channel 712 and the pivoting end is greater than the distance between the main channel 711 and the pivoting end. The two ends of the main channel 711 are respectively provided with a starting point a and an ending point c. The anti-retreat point b is located in the sub-channel 712. The biasing spring 1060 applies a force to the guiding pivoting member 1000, so that the guiding member 1050 can disengage from the main channel 711 and enter the sub-channel 712.

[0145] Reference Figure 2 , when the wrench 700 is in the open position, the guiding member 1050 is located at the starting point a. Reference Figure 8 , in response to the wrench 700 moving from the open position to the intermediate position, the wrench 700 drives the guiding member 1050 to rotate clockwise and lift upward from the starting point a under the action of the biasing spring 1060 into the sub-channel 712 and move to the anti-retreat point b in the sub-channel 712. Reference Figure 10 , in response to the wrench 700 moving from the intermediate position to the closed position, the wrench 700 drives the guiding member 1050 to move down from the anti-retreat point b in the sub-channel 712 to the ending point c of the main channel 711. When the guiding member 1050 enters the sub-channel 712, the guiding pivoting member 1000 rotates upward, so that the anti-retreat portion 1040 of the guiding pivoting member 1000 moves upward.

[0146] Reference Figure 40 , the sub-channel 712 includes a blocking wall 713. The main channel 711 includes a first wall extending from the starting point a to be connected to the blocking wall 713, and the first wall and the blocking wall 713 form a right angle or an acute angle. Such a simple angle design of the guiding channel 710 can ensure that the blocking wall 713 effectively prevents the guiding member 1050 from retreating from the anti-retreat point b to the starting point a, so that the wrench 700 can stay in the intermediate position.

[0147] In order to enable the guiding member 1050 to move from the anti-retreat point b to the ending point c, the sub-channel 712 further includes a guiding wall 714. The main channel 711 further includes a second wall extending from the ending point c to be connected to the guiding wall 714, and the second wall and the guiding wall 714 form an obtuse angle. Such a simple angle design of the guiding channel 710 ensures that the guiding member 1050 can move from the anti-retreat point b to the ending point c. [[ID=I9]]

[0148] When the user presses the wrench 700 to move the wrench 700 from the open position to the intermediate position, when the guide member 1050 moves from the starting point a to the anti-retreat point b, the guide member 1050 enters the secondary channel 712 from the main channel 711, and the guide pivot member 1000 rotates upward and lifts. At this time, the first clutch member 730 is separated from the clip feeding drive tube 400, and the second clutch member 740 abuts against the clip applying drive tube 500. At this time, the clip applying pliers are in the clip feeding completed state, the clip 210 is located in the end effector 300, and the anti-retreat portion 1040 moves upward to abut against the clip feeding drive tube 400 to prevent it from retreating.

[0149] When the user continues to press the wrench 700 and the wrench 700 moves from the intermediate position, causing the guide member 1050 to move from the anti-retreat point b to before the end point c, the guide member 1050 continues to move in the secondary channel 712, the guide pivot member 1000 does not move downward, and the anti-retreat portion 1040 remains in contact with the clip feeding drive tube 400 to prevent the clip feeding drive tube 400 from retreating, enabling the clip feeding block 430 to abut against the proximal end of the clip 210 so that the clip 210 does not retreat during the clip applying process, thus ensuring the stability of clip application. During this process, the second clutch member 740 abuts against the clip applying drive tube 500, and the switching mechanism drives the clip applying mechanism to move distally to perform the closing action (clip applying action) of the end effector 300.

[0150] When the user continues to press the wrench 700 and the wrench 700 reaches the closed position, causing the guide member 1050 to move from the anti-retreat point b along the secondary channel 712 to the end point c in the main channel 711, the anti-retreat portion 1040 moves below the clip feeding drive tube 400, and the anti-retreat portion 1040 is separated from the clip feeding drive tube 400. The clip feeding drive tube 400 retreats and resets under the action of the third reset member 1400. When the guide member 1050 reaches the end point c, the clip applying pliers are in the clip applying completed state, and the clip 210 held in the end effector 300 is compressed to the closed state. When the wrench 700 is released, the clip applying mechanism resets under the action of the first reset member 1200, the switching mechanism resets under the action of the fourth reset member 1500, and the wrench 700 resets driven by the switching mechanism.

[0151] In summary, for the clip applying pliers of the present disclosure, when the firing mechanism resets and moves to cooperate with the clip feeding mechanism again, the firing mechanism can drive the movement, enabling the firing mechanism to smoothly drive the clip feeding mechanism to drive the clip to move into the end effector, avoiding disorder inside the clip applying pliers, and ensuring the stable operation of the clip applying pliers.

[0152] The clip applying pliers of the present disclosure prevent the clips 210 from stacking in the clip magazine 200, thereby avoiding jamming of the clip feeding mechanism, avoiding disorder inside the clip applying pliers, and ensuring the stable operation of the clip applying pliers.

[0153] It should be understood that although this specification is described in terms of embodiments, not every embodiment contains only an independent technical solution. This narrative style of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0154] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present disclosure, and they are not intended to limit the protection scope of the present disclosure. Any equivalent embodiments or modifications made without departing from the technical spirit of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A clip applicator, characterized in that, It includes a clamping magazine, an end actuator, a clamp feeding mechanism, a firing mechanism and a stopping mechanism; The stop mechanism has a first stop portion; the firing mechanism has a limit portion, and the movement of the firing mechanism includes a driving movement and a reset movement; The clip applier has a first state and a second state; When the firing mechanism cooperates with the clip delivery mechanism, the clip applier is in the first state, and in response to the firing mechanism performing the driving movement in the first state, the firing mechanism drives the clip delivery mechanism to move so as to deliver the clip in the clip cartridge to the end effector; When the clip reaches the end effector, the firing mechanism is disengaged from the clip feeding mechanism, and in response to the firing mechanism performing the driving movement, the firing mechanism drives the end effector to close so as to close the clip in the end effector; After the clamp delivery mechanism is reset, the firing mechanism performs the reset movement until the limiting portion passes the first stop portion, and before the firing mechanism and the clamp delivery mechanism cooperate again, the clamping forceps is in the second state; in response to the firing mechanism performing the driving movement in the second state, the limiting portion maintains abutment with the first stop portion to limit the firing mechanism from performing the driving movement in the second state.

2. The clip applicator according to claim 1, characterized in that, The clip applier further includes a housing and a blocking portion; The stop mechanism includes a moving part, the moving part is movably connected to the housing, and the moving part has the first stop portion and the second stop portion; When the firing mechanism cooperates with the clip feeding mechanism, in response to the firing mechanism performing the driving movement, the first stop portion is staggered with the limiting portion to avoid the limiting portion; In response to the firing mechanism performing the resetting movement, when the limiting portion moves to abut against the first stop portion, the moving member moves to allow the first stop portion to avoid the limiting portion, thereby allowing the limiting portion to pass over the first stop portion; After the clamp feeding mechanism is reset, the firing mechanism performs the reset movement until the limiting part passes the first stop part, and before the firing mechanism cooperates with the clamp feeding mechanism again, in response to the firing mechanism performing the driving movement, when the limiting part moves to abut against the first stop part, the blocking part abuts against the second stop part to limit the movement of the moving part, so that the limiting part remains in abutment with the first stop part to limit the firing mechanism from performing the driving movement.

3. The clip applicator according to claim 2, wherein In response to the firing mechanism performing the driving movement or the resetting movement, the limiting portion moves in the axial direction; In an initial state, the limiting portion is located proximal to the first stop portion, and the firing mechanism cooperates with the clip feeding mechanism so that the projections of the limiting portion and the first stop portion along the axial direction are staggered; In response to the firing mechanism performing the driving movement until the firing mechanism and the clip feeding mechanism are disengaged, the limiting portion and the projection of the first stop portion along the axial direction at least partially overlap, and the limiting portion reaches the distal side of the first stop portion; Before the firing mechanism performs the reset movement until the limiting portion reaches the proximal side of the first stop portion and before the firing mechanism cooperates with the clip feeding mechanism, in response to the firing mechanism performing the driving movement, the limiting portion moves from the proximal side of the first stop portion to the distal side and remains in contact with the first stop portion.

4. The clip applicator according to claim 3, characterized in that, The clip feeding mechanism has a card slot. The firing mechanism includes a first clutch member having opposite engaging ends and a switching end, and the limiting portion is disposed at the switching end. In response to the engaging end of the first clutch member engaging with the card slot, the firing mechanism cooperates with the clip feeding mechanism, and the projections of the limiting portion and the first stop portion along the axial direction are offset. In response to the first clutch member moving away from the card slot such that the engaging end disengages from the card slot, the cooperation between the firing mechanism and the clip feeding mechanism is released, and the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

5. The clip applicator according to claim 4, wherein, The clip feeding mechanism includes a clip feeding drive tube and a clip feeding assembly connected to each other. In response to the clip feeding drive tube moving distally, the clip feeding assembly moves distally to send the clip in the clip magazine to the end effector. The card slot is formed on the outer wall of the clip feeding drive tube. Before the clip feeding mechanism is reset and before the firing mechanism performs the reset movement to cooperate with the clip feeding mechanism again, in response to the engaging end of the first clutch member moving along the outer wall of the clip feeding drive tube, the projections of the limiting portion and the first stop portion along the axial direction at least partially overlap.

6. The clip applicator according to claim 2, characterized in that, The firing mechanism includes a wrench and a switching mechanism connected to each other; the limiting portion is disposed on the wrench; the wrench has an open position and a closed position. In the initial state, the wrench is located at the open position, and the switching mechanism cooperates with the clip feeding mechanism. In response to the wrench moving from the open position to the closed position, the firing mechanism performs the driving movement in the first state. When the wrench reaches the closed position, the clip feeding mechanism is reset; in response to the wrench moving from the closed position to the open position, the firing mechanism performs the reset movement, the limiting portion passes over the first stop portion, and the switching mechanism is reset to cooperate with the clip feeding mechanism again. Before the wrench moves from the closed position towards the open position until the limiting portion passes over the first stop portion and before the wrench reaches the open position, in response to the wrench moving towards the closed position, the firing mechanism performs the driving movement in the second state, and the first stop portion remains in contact with the limiting portion to restrict the wrench from moving towards the closed position, thereby restricting the firing mechanism from performing the driving movement in the second state.

7. The clip applicator according to claim 6, wherein, The moving member includes a pivot body and a stop arm connected to each other, and the pivot body is rotatably connected to the housing. The stop arm has an avoidance side and a holding side; the first stop portion is disposed on the holding side of the stop arm. In response to the wrench moving from the open position to the closed position, the limiting portion moves from the first position to the second position via the avoidance side of the stop arm; In response to the wrench moving from the closed position toward the open position, so that the limiting portion moves from the second position via the abutting side of the stop arm to abut against the first stop portion, the pivoting body rotates so that the first stop portion avoids the limiting portion, thereby allowing the limiting portion to pass over the first stop portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, the limiting portion moves toward the second position via the abutting side of the stop arm until it remains in abutment with the first stop portion, thereby limiting the movement of the wrench toward the closed position.

8. The clip applicator according to claim 7, wherein The second stop portion is also arranged on the abutting side of the stop arm; the blocking portion is arranged on the limiting portion; The wrench moves from the closed position toward the open position until the limiting portion passes over the first stop portion, and before the wrench reaches the open position, in response to the wrench moving toward the closed position, when the limiting portion moves toward the second position until it abuts against the first stop portion, the blocking portion abuts against the second stop portion to limit the movement of the moving part, thereby keeping the first stop portion and the limiting portion in abutment.

9. The clip applying forceps according to claim 7, characterized in that, The clip applier further comprises a stop portion; The stop arm has a connecting end and a free end, the connecting end is connected to the pivot body, and the free end can move relative to the pivot body; the free end of the stop arm is provided with a conversion portion; In response to the wrench moving from the open position to the closed position, the stop arm abuts against the stop portion to limit the pivot body from rotating in the first rotation direction. When the limiting portion moves from the first position via the avoidance side of the stop arm to abut against the conversion portion, the free end of the stop arm moves so that the conversion portion avoids the limit portion, thereby causing the limit portion to move to the second position. In response to the wrench moving from the closed position to the open position, when the limiting portion moves from the second position to abut against the conversion portion, the pivot member rotates along the second rotation direction to allow the conversion portion to avoid the limiting portion, thereby causing the limiting portion to move to the abutting side of the stop arm.

10. The clip applicator according to claim 6, characterized in that, The wrench also has an intermediate position, the intermediate position being between the open position and the closed position; In response to the wrench moving from the open position to the intermediate position, the switching mechanism cooperates with the clip feeding mechanism, and the wrench drives the switching mechanism to move the clip feeding mechanism, thereby feeding the clip in the clip cartridge into the end effector; In response to the wrench moving from the intermediate position to the closed position, the switching mechanism is disengaged from the clamp feeding mechanism, and the switching mechanism drives the end effector to close so as to close the clamp in the end effector.

11. The clip applicator according to any one of claims 2, 3, and 6, characterized in that, The moving part is rotatably connected to the housing, and the movement of the moving part is rotation.

12. The clip applicator according to any one of claims 2, 3, and 6, characterized in that, The stop mechanism further includes an elastic member, one end of the elastic member is connected to the housing, and the other end is connected to the moving part; the elastic member is configured to provide power for the reset of the moving part.

13. The clip applicator according to any one of claims 1, 3, and 6, characterized in that, The firing mechanism includes a first clutch member, and the first clutch member has an engaging end; the cartridge feeding mechanism has a card slot. In response to the engaging end of the first clutch member engaging with the card slot, the firing mechanism cooperates with the cartridge feeding mechanism. In response to the engaging end of the first clutch member disengaging from the card slot, the firing mechanism and the cartridge feeding mechanism are disengaged.

14. The clip applicator according to any one of claims 4 and 13, characterized in that, The clip applicator further includes a switching member, a housing, and a guide rail provided on the housing; the first clutch member further has a switching end opposite to the engaging end, and the switching member is provided at the switching end. In response to the firing mechanism performing the driving movement such that the clip is sent into the end effector, the switching member enters the guide rail, causing the first clutch member to move away from the card slot, so that the engaging end disengages from the card slot.

15. The clip applicator according to any one of claims 1, 3, and 6, characterized in that, The clip applicator further includes a clip applying mechanism, and the clip applying mechanism includes a clip applying drive tube and a sleeve connected to each other. In response to the firing mechanism performing the driving movement to disengage from the cartridge feeding mechanism, the firing mechanism abuts against the clip applying drive tube to drive the clip applying drive tube to move, so that the sleeve moves to at least partially receive the end effector in the sleeve, thereby closing the end effector.

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