Clamping device and valve repair device containing the same

Abstract

The present application provides a clamping device, which includes: a base, on which a stop unit is provided; at least two first clamping units, each of which is movably connected to the base; at least two sliding units, each of which includes a release member, and each sliding unit is independently arranged in the base; and at least two rotating arms, which are respectively movably connected to each sliding unit and each first clamping unit to link with each sliding unit and each first clamping unit. The first clamping unit of the present application can be expanded and closed independently, which is more conducive to capturing the leaflets and has a smaller size.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of medical devices, and in particular to a clamping device and a valve repair device including the clamping device. Background Art

[0002] Common valvular insufficiency is seen in the mitral, tricuspid, aortic, and pulmonary valves. For example, during systole, a portion of the blood in the left ventricle flows back through the insufficiency of the mitral valve into the left atrium. The left atrium receives both this regurgitated blood and blood from the pulmonary veins, significantly increasing its blood volume and pressure, leading to left atrial hypertrophy.

[0003] During cardiac diastole, more blood flows from the left atrium to the left ventricle, causing the left ventricle to hypertrophy due to enhanced contraction. After evolving from the compensatory period to the decompensated period, both the left atrium and the left ventricle suffer from heart failure, and symptoms such as pulmonary congestion, pulmonary hypertension, right ventricular hypertrophy, right atrial hypertrophy, right heart failure, and systemic congestion appear in turn.

[0004] Traditional treatment options include aggressive surgery or palliative medication to combat inevitable heart failure. Surgical options also include valve replacement and valvuloplasty. Among these surgical options, typical open-chest surgery is highly invasive, requiring extracorporeal circulation and carrying a high complication rate and infection risk. Many patients cannot tolerate the significant surgical risks and are left helplessly awaiting death.

[0005] At present, there are few products approved in China for minimally invasive transcatheter treatment of valvular regurgitation. Even if there are, these products all require changes to the structure of the heart during the healing process, which brings great pressure and inadaptability to the heart surgery. Chinese patent CN109875725A discloses a clamp device, which is mainly composed of an upper gripping part and a lower gripping part. The upper and lower gripping parts are each provided with two symmetrical clamping arms, wherein the lower gripping part is also provided with a clamping ring on the outside. By pushing the clamping ring upward, the upper and lower clamping arms are moved closer to the center, thereby retracting the leaflets. However, this structure controls the opening and closing of the upper and lower gripping parts at the same time through the clamping ring, but in actual operation, it is often not easy for the leaflets to be accurately captured by the upper and lower gripping parts on the left and right sides at the same time, so the clamping ring needs to be adjusted repeatedly, which is very cumbersome.

[0006] Therefore, there is an urgent need for a product that does not require changing the heart structure and can treat valvular regurgitation through a minimally invasive approach. Summary of the Invention

[0007] In view of the above problems, the present application provides a clamping device to overcome the above problems or at least partially solve the above problems.

[0008] The cam is mounted on a pivotal position in the cam frame, and the cam frame is located adjacent to the first support bracket of the cam frame. The cam frame is located adjacent to the first support bracket of the cam frame, and the cam frame is located adjacent to the first support bracket of the cam frame.

[0009] Optionally, the clamping device further comprises at least two second clamping units connected to the base, so that the second clamping units are in an expanded position or a closed position relative to the base.

[0010] Optionally, the clamping device further comprises at least two pulling wires for pulling each second clamping unit respectively, so as to drive each second clamping unit to be in an expanded position or a closed position relative to the base.

[0011] Optionally, the pull wire passes through the base and is connected to the distal end of each second clamping unit.

[0012] Optionally, the release member includes:

[0013] a slider having a channel formed thereon and capable of sliding up and down along the inner side of the base;

[0014] an elastic member, wherein the elastic member has a through hole; and

[0015] The actuating rod is used to pass through the through hole and be inserted into the channel to fix the elastic member when it is in the first position; when it is in the second position, it is disengaged from the channel and the through hole to release the elastic member and make it abut against the stop unit.

[0016] Optionally, the actuating rod is cooperatively connected with the slider.

[0017] Optionally, the actuating rod is provided with an external thread, and the sliding block is provided with an internal thread, and the external thread matches the internal thread.

[0018] Optionally, the distal end of the rotating arm is hinged to the first clamping unit, and the proximal end is hinged to each sliding unit.

[0019] Accordingly, the present application also provides a valve repair device, which includes: the above-mentioned clamping device; a disengagement device, which is used to connect to or disengage from the clamping device; a conveying device, which is connected to the disengagement device and is used to convey the clamping device to the target position; and a control device, which controls the disengagement device and the conveying device, and the control device is also connected to the release member, and is used to control the sliding of each sliding unit via the release member, and then control the expansion and closing of the first clamping unit, as well as control the movement of the clamping device in space after the clamping device reaches the target position.

[0020] Optionally, the release member includes an actuating rod connected to the control device, and the control device applies a force to the actuating rod.

[0021] Optionally, the clamping device further includes at least two pull wires, each pull wire is connected to the control device, and the control device controls each pull wire to pull each second clamping unit, so as to drive each second clamping unit to be in an expanded position or a closed position relative to the base.

[0022] The present application realizes the independent sliding of each sliding unit through the combination of the sliding unit and the first clamping unit, the rotating arm and the base, thereby driving the rotating arm and the first clamping unit to move in conjunction, so that each first clamping unit can be independently expanded or closed.

[0023] The advantage of this structure over the existing technology (such as the clamping device mentioned in the background technology) is that the clamping device of the present application can first capture one leaflet and then capture the next leaflet, that is, capture different leaflets separately, so the leaflet capture is more accurate, and the efficiency from capturing the leaflet to clamping and fixing the leaflet is greatly improved. There is no need to repeatedly expand and close the clamping device to adjust the capture of the leaflet due to inaccurate capture of the leaflet.

[0024] In addition, in order to overcome the problems of inaccurate leaflet capture and low capture efficiency, the existing technology increases the size of the clamping unit and the entire clamping device. However, because the present application can effectively capture the leaflets, the size of the clamping device is relatively small, which effectively reduces the adverse effects of the implanted structure on the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0026] Figure 1 This is a schematic diagram of a closed state of an embodiment of a clamping device of the present application;

[0027] Figure 2 This is a schematic diagram of an expanded state of an embodiment of a clamping device of the present application;

[0028] Figure 3 This is an exploded view of an embodiment of a clamping device of the present application;

[0029] Figure 4 is a schematic diagram of an embodiment of the sliding unit of the present application;

[0030] Figure 5 is a schematic diagram of an embodiment of the present application in which the release member is not released;

[0031] Figure 6 is a schematic diagram of an embodiment of the present invention after the release member is released;

[0032] Figures 7A-7C This is a schematic diagram of the process from closing to unfolding of the second clamping unit of the present application;

[0033] Figure 8 is a schematic diagram of an embodiment of a valve repair device of the present application;

[0034] Figures 9A-9H This is a schematic diagram of the process of repairing a mitral valve using an embodiment of a valve repair device of the present application.

[0035] Component number

[0036] 10: Clamping device; 101: Base; 1011: Stop unit; 102: First clamping unit; 103: Sliding unit; 104: Rotating arm; 104a, 104b: End; 1021: First connecting member; 1022: Second connecting member; 1041: Third connecting member; 1042: Fourth connecting member; 1031: Fifth connecting member; 1012: Sixth connecting member; 1032: Release member; 1132: Slider; 1232, 1232a, 1232b: Channel; 1632: First surface; 1332: Elastic member; 1432: Through hole; 1532: Actuating rod; 105: Second clamping unit; 106: Pull wire; 20: Valve repair instrument; 201: Dissociation device; 202: Delivery device; 203: Control device; 151, 152: Pin. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0038] The “proximal end” refers to the end closer to the base, and the “distal end” refers to the end farther from the base.

[0039] The "upper", "above" and "upper side" mentioned above refer to the Figure 1 When placed in the manner shown, the direction of the paper is upward; the "downward" refers to when the clamping device is placed in the direction of Figure 1 When placed as shown, with the paper facing downward.

[0040] The "active connection" mentioned above includes, but is not limited to, hinge connection, connecting rod connection, etc.

[0041] The “valve leaflets” mentioned above include, but are not limited to, the mitral valve, tricuspid valve, aortic valve, pulmonary valve, etc. of the heart.

[0042] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0043] See also Figures 1 to 3 In a specific implementation of the present application, a clamping device 10 is provided, comprising: a base 101 having a stopper unit 1011 disposed thereon; and at least two first clamping units 102, each of the first clamping units 102 being movably connected to the base 101. The number of the first clamping units 102 can be two or more.

[0044] The clamping device 10 further includes at least two sliding units 103. The number of sliding units 103 can be the same as the number of first clamping units 102. Each sliding unit 103 is independently disposed in the base 101. Each sliding unit 103 can independently slide downward in the base 101 under the action of a thrust, and independently slide upward in the base 101 under the action of a pull. Each sliding unit 103 can slide independently or simultaneously in the base 101 as needed. The sliding units 103 can be in direct or indirect contact with each other in the base 101, and direct or indirect contact does not hinder independent sliding.

[0045] The clamping device 10 also includes at least two rotating arms 104. The number of rotating arms 104, sliding units 103 and first clamping units 102 can be the same. Each rotating arm 104 is movably connected to each sliding unit 103 and each first clamping unit 102 to operate in conjunction with each sliding unit 103 and each first clamping unit 102.

[0046] In one embodiment of the present application, each rotating arm 104 has two ends 104 a and 104 b , wherein one end 104 a is movably connected to the corresponding sliding unit 103 , and the other end 104 b is movably connected to the corresponding first clamping unit 102 .

[0047] See also Figure 3In one embodiment of the present application, a first connecting member 1021 is provided at a substantially middle portion of the first clamping unit 102, a second connecting member 1022 is provided at the proximal end of the first clamping unit 102, a third connecting member 1041 is provided at the distal end of the rotating arm 104, a fourth connecting member 1042 is provided at the proximal end, a fifth connecting member 1031 is provided at the bottom of the sliding unit 103, and a sixth connecting member 1012 is provided at the bottom of the base 101. The first connecting member 1021, the third connecting member 1041, the fourth connecting member 1042, the fifth connecting member 1031, and the sixth connecting member 1012 can be shaft holes, the second connecting member 1022 can be a pin shaft, and the first The connecting member 1021 is connected to the third connecting member 1041 through the pin 151, the fourth connecting member 1042 is connected to the fifth connecting member 1031 through the pin 152, and the second connecting member 1022 is directly connected to the sixth connecting member 1012, so that when the sliding unit 103 slides downward in the base 101 under the action of thrust, the sliding unit 103 drives the rotating arm 104 to work in conjunction, and then drives the first clamping unit 102 to be in the expanded position; and when the sliding unit 103 slides upward in the base 101 under the action of tension, the sliding unit 103 drives the rotating arm 104 to work in conjunction, and then drives the first clamping unit 102 to be in the closed position.

[0048] It should be noted that the above-mentioned connection method between the first clamping unit 102 and the base 101, and the connection method between the rotating arm 104, the first clamping unit 102 and the sliding unit 103 are merely exemplary and may be any other suitable connection method. The deployed position is not the only position; any position where the first clamping unit 102 is away from the base 101 is also an deployed position. The closed position refers to the position where the first clamping unit 102 and the base 101 are closed. The rotating arm 104 can be a single-stage or multi-stage hinge connected in series, allowing for more precise adjustment of the deployment range of the first clamping unit 102.

[0049] The sliding unit 103 further includes a release member 1032. When the first clamping unit 102 is in the closed position, the release member 1032 is released so as to abut against the stop unit 1011 on the base 101 to fix the sliding unit 103, thereby maintaining the first clamping unit 102 in the closed position.

[0050] The present application realizes the independent sliding of each sliding unit 103 through the combination of the sliding unit 103 and the first clamping unit 102, the rotating arm 104 and the base 101, thereby driving the rotating arm 104 to work in conjunction with the first clamping unit 102, so that each first clamping unit 102 can be independently expanded or closed.

[0051] The advantage of this structure over the existing technology (such as the clamping device mentioned in the background technology) is that the clamping device 10 of the present application can first capture one leaflet and then capture the next leaflet, that is, capture different leaflets separately, so the leaflet capture is more accurate, and the efficiency from capturing the leaflet to clamping and fixing the leaflet on the clamping device 10 is greatly improved. There is no need to repeatedly expand and close the clamping device 10 to adjust the capture of the leaflet due to inaccurate capture of the leaflet.

[0052] In addition, in order to overcome the problems of inaccurate leaflet capture and low capture efficiency, the existing technology increases the size of the clamping unit and the entire clamping device 10 (such as the clamping device mentioned in the background technology). However, because the present application can effectively capture the leaflets, the size of the clamping device 10 is relatively small, which effectively reduces the adverse effects of the implanted structure on the human body.

[0053] See also Figures 4 to 6 In one embodiment of the present application, the release member 1032 includes a slider 1132 having a channel 1232 thereon, and the slider 1132 can slide up and down along the inner side of the base 101. In this embodiment, the first surface 1632 of the slider 1132 serves as a sliding surface, which can slide up and down along the inner side of the base 101. The release member 1032 also includes an elastic member 1332 having a through hole 1432 thereon. The through hole 1432 can be circular, elliptical, or other shaped, or can be a partially circular, elliptical, or other shaped through hole 1432 with a notch on one side.

[0054] The release member 1032 further includes an actuator rod 1532 for releasing the actuator 1032 when in the first position (eg Figure 5 As shown), it passes through the through hole 1432 and is inserted into the channel 1232 to fix the elastic member 1332. At this time, the slider 1132 can slide up and down; when in the second position (as shown Figure 6As shown in FIG. 1 , the actuator 1532 disengages from the channel 1232 and the through-hole 1432, releasing the elastic member 1332 and causing it to abut against the stop unit 1011. The slider 1132 is fixed to the base 101. By way of example, the channel 1232 may be single or multi-segmented. In this embodiment, the channel 1232 includes two sections 1232a and 1232b. The actuator rod 1532 first passes through the channel 1232a, then through the through-hole 1432, and is inserted into the channel 1232b to secure the elastic member 1332. When in the second position, the actuator rod 1532 disengages from the channel 1232 and the through-hole 1432, partially or completely disengaging from the channel 1232, releasing the elastic member 1332 and causing it to abut against the stop unit 1011. The linkage between the actuating rod 1532, the elastic member 1332, and the slider 1132 secures the position of the sliding unit 103 within the base 101, thereby maintaining the first clamping unit 102 in a closed position and firmly clamping the leaflets. Furthermore, the actuating rod 1532, the elastic member 1332, and the slider 1132 are all located within the base 101 and form a compact structure, further reducing the overall size of the clamping device 10.

[0055] In one embodiment of the present application, the stopping unit 1011 may be an opening, and the position of the stopping unit 1011 on the base 101 corresponds to the position of the elastic member 1332 .

[0056] In one embodiment of the present application, the actuating rod 1532 is cooperatively connected with the slider 1132. For example, the actuating rod 1532 is provided with an external thread, and the slider 1132 is provided with an internal thread, and the external thread cooperates with the internal thread. The actuating rod 1532 is rotated in the slider 1132 to achieve the separation of the actuating rod 1532 from the channel 1232 and the through hole 1432, and to pass through the through hole 1432 and insert into the channel 1232. The cooperative connection of the actuating rod 1532 with the slider 1132, on the one hand, maintains the firm connection between the actuating rod 1532 and the slider 1132 when the clamping device 10 is transported, facilitating the application of external force to the slider 1132 through the actuating rod 1532, and on the other hand, allows for fine adjustment of the connection between the actuating rod 1532 and the slider 1132 to release the elastic member 1332.

[0057] See also Figure 8Another embodiment of the present application provides a valve repair device 20, which includes: a clamping device 10; a detaching device 201, which is used to connect to or detach from the clamping device 10; and a delivery device 202, which is connected to the detaching device 201 and is used to deliver the clamping device 10 to the target position. In one embodiment of the present application, a passage is provided in the delivery device for passing the actuating rod 1532 to connect the actuating rod 1532 to the control device 203, so that the control device 203 controls the actuating rod 1532. In another embodiment, the passage is used to pass through the pull wire 106 and the actuating rod 1532 at the same time. The purpose of passing through the pull wire 106 is to connect the pull wire 106 to the control device so that the control device controls the movement of the pull wire 106.

[0058] The valve repair device 20 also includes a control device 203, which may include a bending control unit and a handle. The bending control unit is used to adjust the spatial angle of the clamping device 10 (for example, within the range of 0-90 degrees, within the range of 0-120 degrees, etc.) after the conveying device 202 conveys the clamping device 10 to the target position, so that the clamping device 10 can clamp the target leaflet at a more accurate angle. The handle is respectively connected to the conveying device 202 and the dissociation device 201 to control the conveying device 202 to convey the clamping device 10 to the target position, and to control the dissociation device 201 to connect or dissociate with the clamping device 10. In one embodiment of the present application, the handle is also connected to the release member 1032, which is used to control the sliding of each sliding unit 103 via the release member 1032, and then control the expansion and closure of the first clamping unit 102.

[0059] The handle can be connected only to the actuating rod 1532, or simultaneously to the actuating rod 1532 and the slider 1132. In one embodiment of the present application, when the handle can be connected only to the actuating rod 1532, the operator applies a pushing force, a pulling force, or a disengaging force (for example, when the actuating rod 1532 and the slider 1132 are threadedly connected) to the actuating rod 1532 to disengage the actuating rod 1532 from the channel 1232 and the through hole 1432. In another embodiment, the handle is connected to both the actuating rod 1532 and the slider 1132, and the operator applies a pushing force and a pulling force to the slider 1132 through the handle, thereby applying a disengaging force to disengage the actuating rod 1532 from the channel 1232 and the through hole 1432 through the actuating rod 1532.

[0060] As an example, one embodiment of the valve repair device 20 is operated as follows: the operator delivers the valve repair device 20 until the clamping device 10 reaches the target location at the mitral valve orifice. Then, by applying a thrust to the actuator rod 1532, the slider 1132 is pushed downward along the inner side of the base 101. The slider 1132 drives the rotating arm 104 in a coordinated manner, which in turn drives the first clamping unit 102 to expand, moving the clamping device 10 to the vicinity of one of the leaflets. The operator then adjusts the delivery device 202 and the control device 203 so that the clamping device 10 captures the edge of the leaflet, positioning the edge of the leaflet at the upper root of the first clamping unit 102. By applying a pulling force to the actuator rod 1532, the slider 1132 is pulled upward along the inner side of the base 101. The slider 1132 drives the rotating arm 104 in a coordinated manner, which in turn drives the first clamping unit 102 to close, clamping the leaflet between the first clamping unit 102 and the base 101. Then, the actuating rod 1532 is rotated to disengage from the channel 1232 and the through hole 1432 , thereby releasing the elastic member 1332 and causing it to abut against the stop unit 1011 , thereby fixing the slider 1132 on the base 101 , thereby maintaining the leaflet clamped.

[0061] The clamping device 10 is moved to the vicinity of the other leaflet, and the conveying device 202 and the control device 203 are adjusted so that the clamping device 10 is close to the edge of the leaflet, thereby positioning the edge of the leaflet at the root of the upper side of the other first clamping unit 102. Following similar operations as described above, by applying pushing and pulling forces to the other actuating rod 1532, the other slider 1132 drives the other rotating arm 104 to control the expansion and closing of the other first clamping unit 102. By applying a rotational force to the other actuating rod 1532, the other actuating rod 1532 is disengaged from the channel 1232 and the through hole 1432, releasing the elastic member 1332 so that the elastic member 1332 abuts against the stop unit 1011, and the slider 1132 is fixed to the base 101, thereby clamping the other leaflet between the other first clamping unit 102 and the base 101.

[0062] It should be noted that, as needed, two or more first clamping units 102 may also be closed at the same time.

[0063] See also Figure 2 、 7A to 7CIn another embodiment of the present application, this embodiment differs from the above embodiment in that the clamping device 10 further includes at least two second clamping units 105. The number of the second clamping units 105 can be the same as the number of the first clamping units 102. The second clamping units 105 are movably or fixedly connected to the base 101 so that the second clamping units 105 are in an expanded position or a closed position relative to the base 101. When the second clamping units 105 are fixedly connected to the base 101, the second clamping units 105 can be made of an elastic material. The second clamping units 105 can be located above the first clamping units 102 to clamp the leaflets together with the first clamping units 102.

[0064] Optionally, the clamping device 10 further includes at least two pull wires 106 for pulling each second clamping unit 105, respectively, to drive each second clamping unit 105 to an expanded position or a closed position relative to the base 101. In one embodiment, the pull wires 106 may pass through the base 101 and connect to the distal end of each second clamping unit 105. The pull wires 106 may adjust each second clamping unit 105 individually, thereby achieving the effect of individually assisting in capturing the leaflet, and can more firmly clamp the leaflet after the second clamping unit 105 captures the leaflet edge.

[0065] See also 9A to 9H As an exemplary illustration, the operating method of another embodiment of the valve repair device 20 is: the operator transports the valve repair device 20 until the clamping device 10 reaches the target position at the mitral valve orifice, and pushes the slider 1132 downward along the inner side of the base 101 by applying a thrust to the actuator rod 1532, and the slider 1132 drives the rotating arm 104 to move in conjunction, and the rotating arm 104 drives the first clamping unit 102 to expand, and moves the clamping device 10 to the vicinity of one of the leaflets, and captures the edge of the leaflet by adjusting the transport device 202 and the control device 203, so that the edge of the leaflet is located at the root of the upper side of the first clamping unit 102. Pull wire 106 controls the expansion of second clamping unit 105 corresponding to first clamping unit 102. By adjusting the length of pull wire 106, second clamping unit 105 is clamped with first clamping unit 102, thereby clamping the leaflet. By applying tension to actuator rod 1532, slider 1132 slides upward along the inside of base 101. Slider 1132 drives rotating arm 104 in conjunction with the first clamping unit 102, which in turn pushes second clamping unit 105 closed. Actuating rod 1532 is then rotated to disengage channel 1232 and through-hole 1432, releasing elastic member 1332, causing it to abut against stop unit 1011, securing slider 1132 to base 101, thereby maintaining the leaflet's clamped state.

[0066] The clamping device 10 is moved to the vicinity of the other leaflet, and the conveying device 202 and the control device 203 are adjusted to bring the clamping device 10 close to the edge of the leaflet, thereby positioning the edge of the leaflet at the root of the upper side of the other first clamping unit 102. Similar operations are performed to control the expansion of the first clamping unit 102 and the second clamping unit 105, the capture and closure of the leaflet, and the fixing of the other slider 1132 to the base 101, thereby maintaining the clamped state of the other leaflet.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, and not to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A clamping device, characterized in that: The clamping device comprises: a base, on which a stop unit is provided; At least two first clamping units, each first clamping unit being movably connected to the base; at least two sliding units, each sliding unit including a release member, and each sliding unit being independently disposed in the base; and At least two rotating arms, which are movably connected to each sliding unit and each first clamping unit respectively, so as to be linked with each sliding unit and each first clamping unit; wherein, each sliding unit can slide downward in the base individually under the action of a thrust, so as to drive each rotating arm to move in conjunction, thereby driving each first clamping unit to be in the extended position; each sliding unit can slide upward in the base individually under the action of a pulling force, so as to drive each rotating arm to move in conjunction, thereby driving each first clamping unit to be in the closed position, and by releasing the release member, the release member abuts against the stop unit to maintain each first clamping unit in the closed position; The release member comprises: a slider having a channel formed thereon and capable of sliding up and down along the inner side of the base; an elastic member, wherein the elastic member has a through hole; and The actuating rod is used to pass through the through hole and be inserted into the channel to fix the elastic member when it is in the first position; when it is in the second position, it is disengaged from the channel and the through hole to release the elastic member and make it abut against the stop unit.

2. The clamping device according to claim 1, characterized in that The clamping device further comprises at least two second clamping units connected to the base, so that the second clamping units are in an extended position or a closed position relative to the base.

3. The clamping device according to claim 2, characterized in that The clamping device further comprises at least two pulling wires for pulling each second clamping unit respectively, so as to drive each second clamping unit to be in an expanded position or a closed position relative to the base.

4. The clamping device according to claim 3, characterized in that The pull wire passes through the base and is connected to the distal end of each second clamping unit.

5. The clamping device according to claim 1, characterized in that The actuating rod is cooperatively connected with the sliding block.

6. The clamping device according to claim 1, characterized in that The actuating rod is provided with an external thread, and the sliding block is provided with an internal thread, and the external thread matches the internal thread.

7. The clamping device according to claim 1, characterized in that The distal end of the rotating arm is hinged to the first clamping unit, and the proximal end is hinged to each sliding unit.

8. A valve repair device comprising: The clamping device according to any one of claims 1 to 7; a disengaging device for connecting to or disengaging from the clamping device; a conveying device connected to the dissociating device and configured to convey the clamping device to a target position; as well as A control device controls the dissociation device and the conveying device. The control device is also connected to the release member and is used to control the sliding of each sliding unit via the release member, and then control the expansion and closing of the first clamping unit, and control the movement of the clamping device in space after the clamping device reaches the target position.

9. The valve repair device according to claim 8, characterized in that: The release member includes an actuating rod connected to the control device, and the control device applies a force to the actuating rod.

10. The valve repair device according to claim 8, characterized in that: The clamping device also includes at least two pull wires, each pull wire is connected to the control device, and the control device controls each pull wire to pull each second clamping unit to drive each second clamping unit to be in an expanded position or a closed position relative to the base.

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