An end effector

Abstract

An end effector comprises: an end effector, the end effector comprises a clamp and a tightening tube, the clamp part is received in the channel of the tightening tube; a conveying device, the conveying device comprises a core shaft, a sheath tube, a connecting end and a proximal connecting piece, the proximal end of the connecting end is fixedly connected to the distal end of the sheath tube, the proximal connecting piece is entirely or partially sleeved in the channel of the connecting end, the core shaft is passed through the channel of the sheath tube and the channel of the proximal connecting piece; the end effector and the proximal connecting piece are releasably connected; when the core shaft moves from the distal end to the proximal end to a first position, the connection relationship between the end effector and the proximal connecting piece is released, and the core shaft and the proximal connecting piece are releasably connected; when the core shaft moves from the distal end to the proximal end to a second position, the connection relationship between the core shaft and the proximal connecting piece is released. The end effector and the conveying device rely on the structural coordination between the parts to complete the hemostasis and ligation functions of the hemostatic clip, thereby reducing the surgical risks caused by the material failure of the parts.

Description

Technical Field

[0001] The present invention belongs to the field of medical instruments, and in particular relates to an end-actuating instrument. Background Art

[0002] At present, in minimally invasive surgery, hemostatic clips (end-actuating devices) and ligation clips are often used under endoscopy. The clips clamp human tissue to achieve hemostasis and ligation effects.

[0003] First, the movement of the existing hemostatic clamp relies on the material properties of the parts (such as elasticity, etc.) and the coordination between the structures to achieve the opening, closing, locking, and releasing of the hemostatic clamp; for example, the end actuator disclosed in the patent No. CN108784773A uses the material elasticity of the elastic part to achieve the connection or release of the end actuator and the conveying device; although the material itself has a certain elastic recovery performance, because the parts of the hemostatic clamp are small in size, the material properties of the small-sized parts are unstable, which can easily cause the failure of the part material and cause surgical risks. The above is the first technical problem existing in the prior art.

[0004] Second, the specific functions of the existing hemostatic clips are concentrated on a certain part such as a tightening tube or a clip, resulting in the centralization of the functions of a single part, which brings greater difficulty to the processing of a single part. The above is the second technical problem existing in the prior art.

[0005] Third, the existing hemostatic clamps usually have an opportunity to correct the clamping after closing the tissue and before releasing the hemostatic clamp. However, whether to decide to make a correction (the clamp can be opened and closed repeatedly before releasing the hemostatic clamp) requires the doctor to judge through the visual feedback of the endoscope computer screen rather than the force feedback from the instrument. If the visual field is blurred in the application scenario of the hemostatic clamp, it is easy to cause visual errors to the doctor, resulting in the hemostatic clamp being mistakenly released when the tissue is not effectively clamped, and the correction opportunity is given up. The above is the third technical problem existing in the existing technology. Summary of the invention

[0006] Based on this, the present invention aims to overcome the defects of the prior art and to provide an end-effector for solving the above three technical problems. First, the hemostatic and ligation functions of the hemostatic clip are completed by relying on the structural coordination between the parts, thereby reducing the surgical risks caused by material failure of the parts; second, specific functions are dispersed in separate parts to avoid the centralization of functions of a single part; third, the mechanical coordination between the parts is used to realize force feedback which is directly perceived by the doctor, thereby improving the convenience and accuracy of information feedback.

[0007] The technical solution is as follows:

[0008] An end-actuator, comprising: an end-actuator, the end-actuator comprising a clamp and a tightening tube, the clamp being partially received in a channel of the tightening tube; a delivery device, the delivery device comprising a core shaft, a sheath tube, a connecting end and a proximal connecting piece, the proximal end of the connecting end being fixedly connected to the distal end of the sheath tube, the proximal connecting piece being fully or partially sleeved in the channel of the connecting end, the core shaft being passed through the channels of the sheath tube and the proximal connecting piece; a releasable connection between the end-actuator and the proximal connecting piece; when the core shaft moves from the distal end to the proximal end to a first position, the connection relationship between the end-actuator and the proximal connecting piece is released, and the releasable connection between the core shaft and the proximal connecting piece is released; when the core shaft moves from the distal end to the proximal end to a second position, the connection relationship between the core shaft and the proximal connecting piece is released.

[0009] In one embodiment, the first connecting device is a tightening tube hook disposed at the proximal end of the tightening tube; when the tightening tube hook is deformed or broken, the connection between the first connecting member and the second connecting member is released.

[0010] In one embodiment, the end execution device also includes a distal connecting piece, which is fully or partially sleeved in the channel of the end execution device, and the first connecting device is a hook arranged at the proximal end of the distal connecting piece; when the hook is deformed or broken, the connection between the first connecting piece and the second connecting piece is released.

[0011] In one embodiment, the second connecting member is a protruding step provided on the proximal connecting member, and the first connecting member cooperates with the protruding step, thereby achieving a releasable connection between the first connecting member and the second connecting member.

[0012] In one embodiment, the second connecting member is a hanging hole provided in the proximal connecting member, and the first connecting member extends into the hanging hole, thereby realizing a releasable connection between the first connecting member and the second connecting member.

[0013] In one embodiment, the distal end of the proximal connecting member is provided with a protruding step, the proximal end of the protruding step is provided with a hanging hole, the protruding step and the hanging hole together constitute a second connecting member, the first connecting member passes over the protruding step and extends into the hanging hole, thereby realizing a releasable connection between the first connecting member and the second connecting member.

[0014] In one embodiment, the proximal connector further includes a stop step, which is a proximal protrusion arranged on the proximal connector; the connecting end further includes an abutment step, which protrudes radially inward along the inner surface of the connecting end, and the height of the stop step is greater than the spacing of the abutment steps; when the stop step of the proximal connector and the abutment step of the connecting end contact each other, the proximal connector is prevented from continuing to move from the proximal end to the distal end by the abutment step of the connecting end.

[0015] In one embodiment, the proximal connector further includes a blocking step, which protrudes radially inward along the inner surface of the proximal connector; the core shaft further includes a positioning portion, which protrudes radially outward along the outer surface of the core shaft; the spacing of the blocking steps is smaller than the height of the positioning portion, the positioning portion and the blocking step abut against each other, and the blocking step temporarily prevents the core shaft from continuing to move from the distal end to the proximal end; however, the contact surface between the positioning portion and the blocking step gradually increases from the proximal end to the distal end, and when the pulling force of the core shaft from the distal end to the proximal end is large enough, the blocking step relies on the guiding effect of the contact surface, and the blocking step enters the channel of the proximal connector, and the core shaft is separated from the proximal connector.

[0016] In one embodiment, the proximal connector also includes a stop step, which is a proximal protrusion arranged on the proximal connector; the distal end of the sheath is provided with a sheath distal surface, and the height of the stop step is greater than the spacing of the sheath distal surfaces; when the proximal connector contacts the sheath distal surface, the sheath distal surface prevents the proximal connector from continuing to move from the distal end to the proximal end, and the proximal connector cannot enter the sheath channel.

[0017] In one embodiment, the end execution device also includes a distal connecting piece, which is fully or partially sleeved in the channel of the end execution device; the distal connecting piece is provided with a hanging buckle, and the proximal side wall of the tightening tube is provided with an opening, and the distal end of the opening is a distal step of the tightening tube; the height of the hanging buckle is greater than the height of the distal step of the tightening tube, and the distal step prevents the distal connecting piece from moving from the proximal end to the distal end, and the hanging buckle is hung on the opening, and the distal connecting piece is connected to the tightening tube.

[0018] In one of the embodiments, the distal connecting member is provided with a hook buckle, and the hook buckle is elastic. When the hook buckle is subjected to radial inward pressure, the connection between the distal connecting member and the tightening tube is released again.

[0019] In one embodiment, the distal connecting member includes a notch, which makes the distal connecting member have greater elasticity and is easy to deform when the distal connecting member is subjected to force (especially when the hook buckle of the distal connecting member is subjected to radial inward pressure); when the force applied to the distal connecting member disappears, the shape recovery occurs easily.

[0020] In one embodiment, the distal connector includes a notch, the hook buckle is formed by flanging the surface material of the distal connector, the hook buckle is configured to protrude from the inside to the outside along the distal connector channel, and one side of the hook buckle is the notch.

[0021] In one embodiment, the clamp includes two clamp arms, each of which is provided with a connecting hole, and the locking pin passes through the connecting hole to connect the two clamp arms.

[0022] In one embodiment, the side wall of the distal connecting member is provided with a guide groove, the distal end of the guide groove is provided with an opening, and the locking position is located on the side of the guide groove; the distal connecting member is provided with a guide member, and the distal connecting member is provided with a guide portion, the guide portion has a guide surface with a cross-section gradually increasing from the distal end to the proximal end, and the space between the guide portion and the guide member forms a locking position; when the locking pin cooperates with the guide member, the guide portion guides the locking pin from the guide groove to the locking position by squeezing the locking pin.

[0023] In one embodiment, the clip is provided with a locking pin, which includes two locking arms, one end of which is connected and the other end is open to each other; the guide portion extends between the two locking arms to extend the locking arms outward, and at least one locking arm extends into the locking position.

[0024] In one embodiment, a pin hole and a pin are provided at the distal end of the tightening tube, the pin passes through the pin hole and is connected to the tightening tube, and the pin prevents the clamp arm from over-opening from the distal end of the tightening tube channel.

[0025] In one embodiment, a flange is provided at the distal end of the tightening tube, and the flange prevents the clamp arm from excessively opening from the distal end of the tightening tube channel.

[0026] The beneficial effects of the present invention are:

[0027] 1. An end effector, comprising: an end effector and a conveying device; the end effector comprises a clamp and a tightening tube, wherein the clamp is partially received in a channel of the tightening tube; the conveying device comprises a core shaft, a sheath, a connecting end and a proximal connecting piece, wherein the proximal end of the connecting end is fixedly connected to the distal end of the sheath, the proximal connecting piece is wholly or partially sleeved in the channel of the connecting end, and the core shaft is passed through the channel of the sheath and the channel of the proximal connecting piece; the distal end of the clamp is a clamp arm, which performs functions including but not limited to clamping, ligating and hemostasis on tissues.

[0028] When the core shaft drives the clamp to move from the proximal end to the distal end, the clamp arm is in an open state; after the clamp clamps the tissue, the core shaft drives the clamp to move from the distal end to the proximal end, and the clamp arm is in a closed state; when the clamp arm is in the open and closed states, the end actuator and the proximal connector are in a connected relationship, so that the movement of the core shaft drives the clamp arm to open and close.

[0029] When the clamp arm is closed, the core shaft continues to move from the distal end to the proximal end, the clamp and the tightening tube are locked, and the connection between the distal end of the core shaft and the clamp (called the "internal connection") is released; the core shaft continues to move from the distal end to the proximal end, and the connection between the end actuator and the proximal connector (called the "external connection") is released; the above-mentioned internal connection release and external connection release can occur simultaneously, or the internal connection release can be completed first and then the external connection release, or the external connection release can be completed first and then the internal connection release, and the above sequence can be controlled according to the mechanical fit between the parts.

[0030] The core shaft is in the first position, the connection relationship between the end actuator and the proximal connecting member (referred to as the "external connection") is released, and at the same time when the external connection relationship is released or at a certain stage thereafter, the core shaft is connected to the proximal connecting member, so that the core shaft can drive the proximal connecting member to move from the distal end to the proximal end; when the core shaft subsequently moves from the distal end to the proximal end to the second position, the connection relationship between the core shaft and the proximal connecting member is released.

[0031] Next, the "first position" and the "second position" are described. Before the core shaft is located in the first position, the core shaft cannot drive the proximal connecting member to move from the distal end to the proximal end; when the core shaft is located between the first position and the second position, the core shaft can drive the proximal connecting member to move from the distal end to the proximal end; after the core shaft is located in the second position, the core shaft cannot drive the proximal connecting member to move from the distal end to the proximal end.

[0032] The "first" and "second" in the first position and the second position are only used for clarity and brevity. The order between the first position and the second position is carried out after the external connection of the clip is released, and does not refer to the specific first position or second position of the mandrel. The "first position" and "second position" mentioned above only indicate the existence of a certain position. When the clip is in this position, the external connection can be released and the connection between the mandrel and the proximal connector can be released. It does not limit the actual movement trajectory of the clip, nor does it limit the clip to a specific position.

[0033] The opening, closing, locking, internal connection release, external connection release, and connection release of the core shaft and the proximal connector of the entire clamp can be controlled according to the mechanical cooperation between the parts, and not just rely on the recoverable properties of the part materials to achieve it, so the safety is more stable.

[0034] 2. An end-actuator, comprising: an end-actuator and a delivery device; the end-actuator comprises a clamp, a tightening tube, and a distal connector, the clamp portion is received in the tightening tube, and a first connector is provided at the proximal end of the distal connector; the delivery device comprises a core shaft, a sheath, a connecting end, and a proximal connector; the proximal end of the connecting end is fixedly connected to the distal end of the sheath, the proximal connector is fully or partially sleeved in a channel of the connecting end, the core shaft is passed through the channel of the sheath and the channel of the proximal connector, and a second connector is provided at the distal end of the proximal connector.

[0035] The clip and the mandrel form a releasable inner connection; the first connection device of the distal connection piece and the second connection device of the proximal connection piece form a releasable outer connection.

[0036] The parts that realize the internal connection and external connection functions of the present invention are independent of each other, that is, the clamp and the distal end of the core shaft realize releasable internal connection cooperation, and the distal connection device and the proximal connection device realize releasable external connection cooperation, thereby realizing the dispersion of specific functions in separate parts, avoiding the centralization of the functions of a single part, thereby reducing the difficulty of processing a single part and reducing the processing cost of the parts.

[0037] 3. An end-actuator, comprising: an end-actuator and a delivery device; the end-actuator comprises a clamp and a tightening tube, wherein the clamp is partially received in the tightening tube; the delivery device comprises a core shaft, a sheath, a connecting end and a proximal connecting piece, wherein the proximal end of the connecting end is fixedly connected to the distal end of the sheath, the proximal connecting piece is wholly or partially sleeved in a channel of the connecting end, and the core shaft is passed through the channel of the sheath and the channel of the proximal connecting piece.

[0038] A positioning part is provided at the distal end of the core shaft, and a blocking part is provided at the proximal connecting piece; the core shaft drives the clamp to move from an open state to a closed state from the distal end to the proximal end, and the positioning part and the blocking part cooperate with each other to provide resistance feedback.

[0039] When the positioning part and the blocking part abut against each other, a certain resistance will be generated. This resistance is transmitted to the doctor through the sheath to produce a blocking feeling. The doctor can accurately know that the clamp is completely closed through the blocking feeling produced by the instrument in his hand; if the clamp has been successfully clamped in the correct position at this time, the doctor can continue to pull the core shaft from the distal end to the proximal end, so that the positioning part passes the blocking part and completes the subsequent release action; if the clamping position of the clamp needs to be corrected at this time, the doctor will push the core shaft from the proximal end to the distal end again, so that the clamp reopens to find a suitable clamping position. Therefore, the positioning part and the blocking part cooperate with each other to provide resistance feedback, and the mechanical cooperation between the parts is used to realize force feedback and is directly perceived by the doctor, thereby improving the convenience and accuracy of information feedback.

[0040] 4. A first connection device is provided at the proximal end of the end effector, and a second connection device is provided at the distal end of the proximal connection piece, and the first connection device and the second connection device are releasably connected. The first connection device is a tightening tube hook provided at the proximal end of the tightening tube; if the tightening tube hook is deformed or broken, the connection relationship between the first connection piece and the second connection piece is released.

[0041] The hook is directly arranged at the proximal end of the tightening tube, so that the proximal end of the tightening tube and the proximal end connecting piece form a releasable external connection, which simplifies the structure and reduces the cost.

[0042] 5. The end execution device also includes a distal connecting piece, which is fully or partially sleeved in the channel of the end execution device, and the first connecting device is a hook arranged at the proximal end of the distal connecting piece; when the hook is deformed or broken, the connection relationship between the first connecting piece and the second connecting piece is released.

[0043] The hook is arranged at the proximal end of the distal connector to avoid the functions being concentrated on a single part (such as a tightening tube), thereby reducing the difficulty of processing a single part.

[0044] 6. The second connecting member is a protruding step provided on the proximal connecting member, and the first connecting member cooperates with the protruding step; or (and), the second connecting member is a hanging hole provided on the proximal connecting member, and the first connecting member extends into the hanging hole, thereby realizing a releasable connection between the first connecting member and the second connecting member.

[0045] The protruding step and the hanging hole can be independent of each other or can be combined with each other to cooperate with each other in the first connecting member; the independent action is convenient for actual needs, and the combined action is convenient for improving the effect, so it can be freely selected according to actual conditions in actual products.

[0046] 7. The distal connecting piece is provided with a hook and a buckle, and the proximal side wall of the tightening tube is provided with an opening, the hook and a buckle is hooked on the opening, and the distal connecting piece is connected to the tightening tube.

[0047] The cooperation and processing of the opening and the hook buckle are simple, but the connection and fixation of the distal connecting piece and the tightening tube can be realized, which is convenient for installation.

[0048] 8. The hook buckle of the distal connecting piece is elastic, and when the hook buckle is subjected to radial inward pressure, the connection between the distal connecting piece and the tightening tube is released; the distal connecting piece also includes a notch.

[0049] The hook hole is elastic, or (and) the distal connector has a notch in order to increase the local (or) overall elasticity of the distal connector; when the clamp is released by mistake, the connection between the distal connector and the tightening tube is released by applying radial inward pressure to the elastic buckle, and the clamp locked with the distal connector is released from the tightening tube, thereby allowing the clamp arm to reopen and separate from the tissue.

[0050] 9. The proximal connector also includes a stop step, which is a proximal protrusion arranged on the proximal connector; the connecting end also includes an abutment step, which protrudes radially inward along the inner surface of the connecting end, and the height of the stop step is greater than the spacing of the abutment steps.

[0051] The proximal connecting piece further comprises a blocking step which protrudes radially inward along the inner surface of the proximal connecting piece; the core shaft further comprises a positioning portion which protrudes radially outward along the outer surface of the core shaft; the positioning portion and the blocking step abut against each other.

[0052] The proximal connector also includes a stop step, which is a proximal protrusion arranged on the proximal connector; the distal end of the sheath is provided with a sheath distal end surface, and the height of the stop step is greater than the spacing of the sheath distal end surfaces.

[0053] The coordination between the above-mentioned stop step, abutment step, blocking step, positioning part and the distal end face of the sheath all belong to the design of the local structure on the parts; compared with relying on the material properties of the product, the parts processing is simple, the mutual coordination between the various parts of the product is closely connected, and the overall stability of the product is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A cross-sectional view of the end-actuator of the first embodiment when the clamp is opened Figure 1 ;

[0055] Figure 2 A cross-sectional view of the end-actuator of the first embodiment when the clamp is opened Figure 2 ;

[0056] Figure 3 yes Figure 2 A partial enlarged view of

[0057] Figure 4 A cross-sectional view of the end effector when the clamp is closed in Example 1 Figure 1 ;

[0058] Figure 5 A cross-sectional view of the end effector when the clamp is closed in Example 1 Figure 2 ;

[0059] Figure 6 yes Figure 5 A partial enlarged view of

[0060] Figure 7 A cross-sectional view of the end effector when the clamp is released in Example 1 Figure 1 ;

[0061] Figure 8 A cross-sectional view of the end effector when the clamp is released in Example 1 Figure 2 ;

[0062] Fig. 9 yes Figure 8 A partial enlarged view of

[0063] Fig.10 A cross-sectional view of the end effector when the proximal connector and the mandrel are separated in Example 1 Figure 1 ;

[0064] Fig.11 A cross-sectional view of the end effector when the proximal connector and the mandrel are separated in Example 1 Figure 2 ;

[0065] Fig.12 yes Fig.11 A partial enlarged view of the end effector;

[0066] Fig.13 yes Fig.11 A partial enlarged view of the conveying device;

[0067] Fig.14 is a schematic diagram of a tightening tube of Example 1;

[0068] Fig.15 yes Fig.14 A cross-sectional view of

[0069] Fig.16 is a schematic diagram of a distal connector of Embodiment 1;

[0070] Fig.17 yes Fig.16 A cross-sectional view of

[0071] Fig.18 is a schematic diagram of a proximal connector of Embodiment 1;

[0072] Fig.19 yes Fig.18 A cross-sectional view of

[0073] Fig. 20is a schematic diagram of a connection terminal of Embodiment 1;

[0074] Fig.21 yes Fig. 20 A cross-sectional view of

[0075] Fig. 22 is a schematic diagram of a tightening tube of Embodiment 2;

[0076] Fig.23 yes Fig. 22 A cross-sectional view of

[0077] Fig.24 is a schematic diagram of a distal connector of Embodiment 2;

[0078] Fig.25 yes Fig.24 A cross-sectional view of

[0079] Fig.26 is a schematic diagram of a remote connection member of Embodiment 3;

[0080] Fig. 27 yes Fig.26 A cross-sectional view of

[0081] Fig.28 is a cross-sectional view of the proximal connecting member of the fourth embodiment;

[0082] Fig.29 is a schematic diagram of a tightening tube of Embodiment 5;

[0083] Fig.30 yes Fig.29 sectional view of .

[0084] Description of reference numerals:

[0085] 100. End effector;

[0086] 110, clamp, 111, clamp arm, 112, locking pin, 113, connecting hole; 120, tightening tube, 121, opening, 122, proximal step, 123, distal step, 124, tightening tube hook, 125, pin, 126, pin hole, 127, flange; 130, distal connector, 131, hook, 132, locking position, 133, guide, 134, guide part, 135, hook buckle, 136, notch;

[0087] 200. Conveying device;

[0088] 210, mandrel, 211, connecting piece, 212, positioning part, 213, sleeve tube, 214, mandrel body; 220, sheath tube, 221, distal end surface of sheath tube; 230, connecting end, 231, abutting step; 240, proximal connecting piece, 241, protruding step, 242, hanging hole, 243, blocking step, 244, stop step, 245, notch; 250, outer sheath tube; 260, control device DETAILED DESCRIPTION

[0089] The present invention is further described in detail below, but the embodiments of the present invention are not limited thereto.

[0090] Embodiment 1

[0091] like Figure 1-13 As shown, the end effector includes: an end effector 100 and a delivery device 200 .

[0092] The end execution device 100 includes a clamp 110, a tightening tube 120, and a distal connector 130; the distal connector 130 is installed in the channel of the tightening tube 120, and the distal connector 130 is provided with a channel, the channel of the distal connector 130 is connected to the channel of the tightening tube 120, and the clamp 110 is partially received in the channel of the tightening tube 120.

[0093] The delivery device 200 includes a core shaft 210, a sheath tube 220, a connecting end 230 and a proximal connecting piece 240. The proximal end of the connecting end 230 is fixedly connected to the distal end of the sheath tube 220. The proximal connecting piece 240 is fully or partially sleeved in the channel of the connecting end 230. The core shaft 210 is inserted into the channel of the sheath tube 220 and the channel of the proximal connecting piece 240. The delivery device 200 also includes an outer sheath tube 250 arranged at the outer end of the sheath tube 220, and the proximal end of the core shaft 210 is connected to a control device 260 (not shown in the figure).

[0094] Clip 110;

[0095] The clip 110 includes two clip arms 111, a locking pin 112, and a connecting hole 113. The locking pin 112 passes through the connecting hole 113 to connect the two clip arms 111. The locking pin 112 not only connects the two clip arms 111, but also locks the clip 110. The locking process will be described in detail later in conjunction with the distal connector 130.

[0096] Tightening tube 120:

[0097] like Figure 14-15 As shown, the distal end of the tightening tube 120 is provided with a pin hole 126 and a pin 125 , and the pin 125 passes through the pin hole 126 to connect with the tightening tube 120 , and the pin 125 prevents the clamp arm 111 from excessively opening from the distal end of the tightening tube 120 channel.

[0098] An opening 121 is provided at the proximal end of the tightening tube 120; a distal step 123 is provided at the distal end of the opening 121, and the spacing of the distal steps 123 is H1; a proximal step 122 is provided at the proximal end of the opening 121; the matching relationship between the distal step 123 and the proximal step 122 and the distal connecting piece 130 will be described in detail later in conjunction with the distal connecting piece 130.

[0099] Distal connector 130:

[0100] like Figure 16-Figure 17 As shown, the side wall of the distal connecting member 130 is provided with a guide groove 137, the distal end of the guide groove 137 is provided with an opening, and the distal connecting member 130 is also provided with a groove as a locking position 132, and the locking position 132 is connected to the guide groove 137; the distal connecting member 130 is also provided with a guide member 133 and a guide portion 134; the proximal end of the distal connecting member 130 is also provided with a hook 131, and the hook 131 and the proximal connecting member 240 cooperate with each other to form a releasable connection.

[0101] The distal connecting member 130 is further provided with a hooking buckle 135 , the height H2 of the hooking buckle 135 is greater than the spacing H1 of the distal step 123 , and the distal connecting member 130 is fixed in the tightening tube 120 .

[0102] The clamp locking process is described in combination with the clamp 110 and the distal connector 130: the core shaft 210 drives the clamp 110 to move from the distal end to the proximal end until the locking pin 112 enters the guide groove 137. Through the guiding action of the guide member 133, the locking pin 112 and the guide member 133 abut against each other, the locking pin 112 is stretched open, and the locking pin 112 enters the locking position 132. The locking pin 112 and the distal connector 130 are locked.

[0103] The distal connecting member 130 further includes a hook 131 , which is disposed at the proximal end of the distal connecting member 130 . The hook 131 is hooked on a protruding step of the proximal connecting member 240 , and the distal connecting member 130 and the proximal connecting member 240 form a releasable connection.

[0104] Mandrel 210:

[0105] The proximal end of the core shaft 210 is a core shaft body 214 , and the distal end of the core shaft 210 is provided with a connecting piece 211 , and the hook of the connecting piece 211 is sleeved on the locking pin 112 to form a releasable internal connection.

[0106] A sleeve tube 213 is sleeved on the outer side of the distal end of the core shaft. The sleeve tube 213 enters into the channels of the distal connecting piece 130 and the proximal connecting piece 240 as the core shaft 210 moves.

[0107] The core shaft 210 also includes a positioning portion 212 arranged at the proximal end of the connecting piece 211. The positioning portion 212 protrudes radially outward along the outer surface of the sleeve tube 213. The height C1 of the positioning portion 212 is greater than the spacing C2 of the blocking step 243. The positioning portion 212 and the blocking step 243 of the proximal connecting piece 240 abut against each other.

[0108] Sheath 220:

[0109] The sheath tube 220 is provided with a sheath tube distal end surface 221 . An outer sheath tube 250 is disposed outside the sheath tube 220 . The core shaft 210 is passed through a channel of the sheath tube 220 .

[0110] Connecting terminal 230;

[0111] like Fig. 20 and Fig.21 As shown, the proximal end of the connecting terminal 230 and the distal end of the sheath 220 are fixedly connected, and an abutment step 231 is provided on the inner side of the connecting terminal 230. The spacing of the abutment step 231 is A3. The cooperation between the abutment step 231 and the proximal connecting piece 240 will be described in detail later.

[0112] Proximal connector 240:

[0113] like Fig.18 and Fig.19 As shown, a protruding step 241 is provided on the distal end of the proximal connecting member 240, and the height D2 of the protruding step 241 is greater than the spacing D1 of the hook 131 of the distal connecting member 130. The hook 131 of the distal connecting member 130 is hooked on the protruding step of the proximal connecting member 240, thereby realizing the connection between the protruding step 241 (second connecting member) and the hook 131 (first connecting member).

[0114] The proximal connecting member 240 also includes a hanging hole 242, which is arranged at the proximal end of the protruding step 241. When the protruding step 241 (the second connecting member) and the hook 131 (the first connecting member) are hung, the hook 131 can extend into the hanging hole 242, thereby making the protruding step 241 (the second connecting member) and the hook 131 (the first connecting member) hang more firmly.

[0115] The proximal connector 240 further includes a stop step 244, which is a protrusion disposed at the proximal end of the proximal connector 240. The height A1 of the stop step 244 is greater than the spacing A3 of the abutting step 231 of the connecting terminal 230, so that the proximal connector 240 is restricted in the channel of the connecting terminal 230 when it moves distally, and does not escape from the distal end of the connecting terminal; meanwhile, the height A1 of the stop step 244 is greater than the spacing A2 of the distal end surface 221 of the sheath, so that the proximal connector 240 is restricted in the channel of the connecting terminal 230 when it moves proximally, and does not enter the channel of the sheath. In summary, the proximal connector 240 is restricted in the channel of the connecting terminal 230.

[0116] The proximal connector 240 also includes a blocking step 243, which protrudes radially inward along the inner surface of the proximal connector 240, and the spacing C2 of the blocking step 243 is less than or equal to the height C1 of the positioning portion 212 of the core shaft 210; when the core shaft 210 moves from the distal end to the proximal end until the positioning portion 212 abuts against the blocking step 243 of the proximal connector 240, a certain resistance feedback is generated and transmitted to the operator; if the operator continues to pull the core shaft from the distal end to the proximal end after receiving the resistance feedback, the blocking portion 212 will be squeezed over the blocking step 243 and enter the channel of the proximal connector 240.

[0117] The proximal connecting piece 240 is further provided with a notch 245 to increase the proximal elasticity of the proximal connecting piece 240 and facilitate the separation of the core shaft 210 and the proximal connecting piece 240 .

[0118] Next, combine Figures 1 to 13 Describe the motion of the end effector:

[0119] (1) Figures 1 to 3 The clamp is open:

[0120] The connecting piece 211 at the distal end of the core shaft 210 is sleeved on the locking pin 112, and the core shaft 210 is connected to the clamp. The core shaft moves from the proximal end to the distal end to drive the clamp arm 11 to open.

[0121] The height H2 of the distal connecting member 130 through the hook buckle 135 is greater than the spacing H1 of the distal step 123 , and the distal connecting member 130 is fixed in the tightening tube 120 .

[0122] The height D2 of the protruding step 241 of the proximal connecting member 240 is greater than the spacing D1 of the hook 131 of the distal connecting member 130, and the hook 131 of the distal connecting member 130 is hooked on the protruding step of the proximal connecting member 240, thereby realizing the connection between the protruding step 241 (second connecting member) and the hook 131 (first connecting member), and the distal connecting member 130 and the proximal connecting member 240 are connected.

[0123] The height A1 of the stop step 244 of the proximal connector 240 is greater than the spacing A3 of the abutment step 231 of the connection terminal 230 . When the proximal connector 240 moves distally, it is restricted in the channel of the connection terminal 230 , and the proximal connector 240 and the connection terminal 230 abut against each other.

[0124] (2) Figures 4 to 6 The clamp is closed:

[0125] The core shaft 210 moves from the distal end to the proximal end, and the clamp arm 111 is partially received in the channel of the tightening tube 120, and the clamp arm 111 is closed; since the spacing C2 of the blocking step 243 is less than or equal to the height C1 of the positioning portion 212 of the core shaft 210, when the core shaft 210 moves from the distal end to the proximal end and the positioning portion 212 abuts against the blocking step 243 of the proximal connecting member 240, a certain resistance feedback is generated and transmitted to the operator, at which time the operator is reminded that the clamp has been closed.

[0126] (3) Figures 7 to 9 For the clamp release state:

[0127] After the clamp is closed, the core shaft 210 continues to move from the distal end to the proximal end. If the operator continues to pull the core shaft from the distal end to the proximal end after receiving resistance feedback, the blocking portion 212 will be squeezed over the blocking step 243 and enter the channel of the proximal connector 240.

[0128] The core shaft 210 continues to move from the distal end to the proximal end, so that the locking pin 112 enters the guide groove 137. Through the guiding action of the guide member 133, the locking pin 112 and the guide member 133 abut against each other, the locking pin 112 is stretched open, and the locking pin 112 enters the locking position 132, and the locking pin 112 and the distal connecting member 130 are locked; at the same time, the connecting piece 211 at the distal end of the core shaft 210 is deformed when it receives a sufficiently large pulling force, and the connection relationship between the connecting piece 211 and the locking pin 112 is released, that is, the internal connection relationship of the clip is released.

[0129] As the core shaft 210 continues to move from the distal end to the proximal end, the core shaft 210 drives the protruding step 241 of the proximal connecting member 240 to move from the distal end to the proximal end, and the hook 131 of the distal connecting member 130 that cooperates with the protruding step 241 is subjected to a sufficiently large pulling force from the distal end to the proximal end, and the hook 131 is deformed, and the connection relationship between the distal connecting member 130 and the proximal connecting member 240 is released, that is, the external connection relationship of the clip is released.

[0130] In this state, the connection between the end effector 100 and the conveying device 200 is released, but the core shaft 210 can still drive the proximal connector 240 to move from the distal end to the proximal end.

[0131] (4) Figures 10 to 13The proximal connector and the mandrel are separated and released:

[0132] After the clamp is released, the core shaft 210 drives the proximal connector 240 to move from the distal end to the proximal end, and the stop step 244 of the proximal connector 240 abuts against the distal surface 221 of the sheath 220, and the height A1 of the stop step 244 is greater than the spacing A2 of the distal surface 221 of the sheath, so that the proximal connector 240 is restricted in the channel of the connecting end 230 when moving proximally, and the proximal connector 240 cannot be further driven by the core shaft 210 into the channel of the sheath 220; at the same time, the height A1 of the stop step 244 of the proximal connector 240 is greater than the spacing A3 of the abutment step 231 of the connecting end 230, and the abutment step 231 restricts the proximal connector 240 from excessively moving toward the distal end; therefore, the proximal connector 240 is restricted to move in the channel of the connecting end 230.

[0133] Embodiment 2

[0134] The difference between the second embodiment and the first embodiment is that:

[0135] like Figure 22-25 As shown, the first connecting device is a tightening tube hook 124 arranged at the proximal end of the tightening tube 120, and the distal connecting piece 130 matched with the tightening tube 120 is not provided with a hook 131; the spacing D1 of the tightening tube hook 124 is smaller than the spacing D2 of the protruding steps 241 of the proximal connecting piece 240, so the tightening tube hook 124 is hung on the protruding step of the proximal connecting piece 240, and the tightening tube 120 and the proximal connecting piece 240 form a releasable connection.

[0136] Embodiment 3

[0137] The difference between the third embodiment and the first embodiment is that:

[0138] like Figure 26-27 As shown, the distal connecting member 130 is further provided with a notch 136 , and the hooking buckle 135 of the distal connecting member 130 is elastic; the hooking buckle 135 can be directly formed by flanging the part of the distal connecting member 130 .

[0139] The hook buckle 135 is elastic, and the distal connecting piece 130 is provided with a notch 136, so that the distal connecting piece 130 is elastic both locally and as a whole; when the clamp is released by mistake, by applying radial inward pressure to the elastic hook buckle 135, the hook buckle 135 disengages from the distal step 123 of the tightening tube 120, and the connection between the distal connecting piece 130 and the tightening tube 120 is released, and the clamp 110 locked with the distal connecting piece 130 is released from the locking relationship with the tightening tube 120, so that the clamp arm 111 is reopened and the clamp 110 is separated from the tissue.

[0140] Embodiment 4

[0141] The difference between the fourth embodiment and the first embodiment is that:

[0142] like Fig.28 As shown, the proximal connector 240 is not provided with a slot, and when the clamp is released, the core shaft continues to move from the distal end to the proximal end, and the core shaft 210 and the proximal connector 240 are separated only by the abutment between the stop step 244 of the proximal connector 240 and the distal end surface 221 of the sheath 220.

[0143] Embodiment 5

[0144] The difference between the fifth embodiment and the first embodiment is that:

[0145] like Figure 29-30 As shown, the distal end of the tightening tube 120 is provided with a flange 127 , and the flange 127 prevents the clamp arm 111 from excessively opening from the distal end of the tightening tube 120 channel.

[0146] The "proximal end" and "distal end" in this article refer to the side along the length direction of the mandrel (or the axis of the mandrel) or the direction along which the mandrel extends into the human body, the side facing the operator is the "proximal end", and the side facing the mandrel for treatment is the "distal end"; the "proximal end" includes the end face of the proximal end and a part near the proximal end face, and the "distal end" includes the end face of the distal end and a part near the distal end face. The "proximal end" or "distal end" of a certain part means that the side of a certain part facing the operator is the "proximal end" of the certain part, and the side of a certain part facing the mandrel for treatment is the "distal end" of the certain part, the "proximal end" of a certain part includes the end face of the proximal end of the part and a part near the proximal end face, and the "distal end" of a certain part includes the end face of the distal end of the part and a part near the distal end face. Part A is located at the proximal end (or distal end) of part B means: Part A is located at the proximal end (or distal end) of part B along the center line or the central axis, and at this time Part A is in contact or not in contact with part B; or, Part A is located to the side of the center line or the central axis, but closer to the proximal end relative to part B, and at this time Part A is in contact or not in contact with part B.

Claims

1. An end effector, comprising: An end effector, the end effector comprising a clamp and a tightening tube, wherein the clamp is partially received in a channel of the tightening tube; A delivery device, the delivery device comprising a core shaft, a sheath tube, a connecting end and a proximal connecting piece, the proximal end of the connecting end being fixedly connected to the distal end of the sheath tube, the connecting end further comprising an abutting step, the abutting step protruding radially inwardly along the inner surface of the connecting end, the proximal connecting piece being fully or partially sleeved in a channel of the connecting end, the core shaft being passed through the channel of the sheath tube and the channel of the proximal connecting piece, the core shaft driving the proximal connecting piece to move from the distal end to the proximal end; The end actuator and the proximal connector are releasably connected; when the core shaft moves from the distal end to the proximal end to a first position, the connection between the end actuator and the proximal connector is released, and the core shaft and the proximal connector are releasably connected; when the core shaft moves from the distal end to the proximal end to a second position, the connection between the core shaft and the proximal connector is released.

2. An end effector, comprising: An end effector, the end effector comprising a clamp, a tightening tube, and a distal connecting piece, wherein the clamp is partially received in the tightening tube, and a first connecting device is provided at the proximal end of the distal connecting piece; A delivery device, the delivery device comprising a core shaft, a sheath tube, a connecting end and a proximal connecting piece; the proximal end of the connecting end is fixedly connected to the distal end of the sheath tube, the connecting end further comprises an abutting step, the abutting step protrudes radially inward along the inner surface of the connecting end, the proximal connecting piece is fully or partially sleeved in the channel of the connecting end, the core shaft is passed through the channel of the sheath tube and the channel of the proximal connecting piece, the core shaft drives the proximal connecting piece to move from the distal end to the proximal end, and the distal end of the proximal connecting piece is provided with a second connecting device; The clamp and the core shaft form a releasable inner connection; the first connecting device of the distal connecting piece and the second connecting device of the proximal connecting piece form a releasable outer connection.

3. An end effector, comprising: An end actuator, the end actuator includes a clamp and a tightening tube, the clamp is partially received in the tightening tube; a delivery device, the delivery device includes a core shaft, a sheath tube, a connecting end and a proximal connecting piece, the proximal end of the connecting end is fixedly connected to the distal end of the sheath tube, the connecting end also includes an abutment step, the abutment step protrudes radially inward along the inner surface of the connecting end, the proximal connecting piece is fully or partially sleeved in the channel of the connecting end, the core shaft is passed through the channel of the sheath tube and the channel of the proximal connecting piece, and the core shaft drives the proximal connecting piece to move from the distal end to the proximal end; The distal end of the mandrel is provided with a positioning portion, and the proximal connecting piece is provided with a blocking portion; The core shaft drives the clip to move from an open state to a closed state from the distal end to the proximal end, and the positioning portion and the blocking portion cooperate with each other to provide resistance feedback.

4. The end effector according to any one of claims 1 to 3, characterized in that: The proximal end of the end effector is provided with a first connecting device, and the distal end of the proximal connecting piece is provided with a second connecting device, and the first connecting device and the second connecting device are releasably connected.

5. The end effector according to claim 4, characterized in that: The first connecting device is a tightening tube hook disposed at the proximal end of the tightening tube; when the tightening tube hook is deformed or broken, the connection between the first connecting device and the second connecting device is released.

6. The end effector according to claim 4, characterized in that: The end execution device also includes a distal connecting piece, which is fully or partially sleeved in the channel of the end execution device, and the first connecting device is a hook arranged at the proximal end of the distal connecting piece; when the hook is deformed or broken, the connection relationship between the first connecting device and the second connecting device is released.

7. The end effector according to any one of claims 5 to 6, characterized in that: The second connecting device is a protruding step provided on the proximal connecting member, and the first connecting device cooperates with the protruding step, thereby realizing a releasable connection between the first connecting device and the second connecting device; Alternatively, the second connecting device is a hanging hole arranged on the proximal connecting member, and the first connecting device extends into the hanging hole, thereby realizing a releasable connection between the first connecting device and the second connecting device.

8. The end effector according to any one of claims 1 to 3, characterized in that: The end execution device also includes a distal connecting piece, which is fully or partially sleeved in the channel of the end execution device; the distal connecting piece is provided with a hanging buckle, the proximal side wall of the tightening tube is provided with an opening, the hanging buckle is hung on the opening, and the distal connecting piece is connected to the tightening tube.

9. The end effector according to claim 8, characterized in that: The hook buckle is elastic, and when the hook buckle is subjected to radial inward pressure, the connection between the distal connecting piece and the tightening tube is released; the distal connecting piece also includes a notch.

10. The end effector according to any one of claims 1 to 3, characterized in that: The proximal connecting member further comprises a stop step, which is a proximal protrusion arranged on the proximal connecting member; the height of the stop step is greater than the spacing of the abutting steps.

11. The end effector according to any one of claims 1 to 3, characterized in that: The proximal connecting piece further comprises a blocking step, which protrudes radially inward along the inner surface of the proximal connecting piece; the core shaft further comprises a positioning portion, which protrudes radially outward along the outer surface of the core shaft; the positioning portion and the blocking step abut against each other.

12. The end effector according to any one of claims 1 to 3, characterized in that: The proximal connector also includes a stop step, which is a proximal protrusion arranged on the proximal connector; the distal end of the sheath is provided with a sheath distal end surface, and the height of the stop step is greater than the spacing of the sheath distal end surfaces.

Images