An end effector

Abstract

An end actuator comprises an end actuator and a conveying device; the end actuator comprises a clamp and a receiving tube, the receiving tube is provided with an axially extending channel, the proximal end of the clamp can be received in the receiving tube channel, and the end actuator also comprises a connecting piece; the conveying device comprises a sheath tube and a core shaft, the sheath tube is provided with a channel, and the core shaft is arranged in the sheath tube channel; the sheath tube and the end actuator are in a connected state or a non-connected state, and the end actuator and the conveying device can be quickly and safely assembled to form the end actuator.

Description

[0001] Priority claim

[0002] This application claims priority to Chinese application No. CN2021109594293 filed on August 20, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention belongs to the field of medical instruments, and in particular relates to an end-actuating instrument. Background Art

[0004] Clinically, endoscopes are often used to combine mechanical compression and hemostasis with clips for treatment. Currently, the end effectors used in clinical practice are divided into two types: the clip and the delivery device are separated (referred to as "separate end effectors"), or the clip and the delivery device are integrated (referred to as "integrated end effectors").

[0005] The clamp part and the delivery device part of the integrated end effector are both disposable; the clamp part of the detachable end effector is disposable, and the delivery device part is reusable, which can save costs, reduce medical waste, and is economical and environmentally friendly. However, whether it is a detachable end effector or an integrated end effector, there will be assembly difficulties when assembling the clamp part and the delivery device part, such as long assembly time and easy assembly failure between the assembled parts. Especially for the detachable end effectors used clinically, the assembly process occurs during the operation. The long assembly time will affect the efficiency of the operation and bring risks to the operation.

[0006] The patent with application number CN201780090351.8 discloses an end effector, an end effector, a conveying device, and an assembly box. The patent solution relies on the elastic outward expansion and rebound of the elastic ring arranged in the channel of the connecting tube to realize the assembly of the end effector and the conveying device. If the elastic ring is directly placed in the channel of the connecting tube, the elastic ring will be displaced or deflected during the assembly process, resulting in a long assembly time or assembly failure; if other positioning structures for installing the elastic ring are set in the connecting tube, not only will the space in the channel of the connecting tube be occupied, resulting in a long assembly time or assembly failure, but also the difficulty of parts processing will be increased. Summary of the invention

[0007] Based on this, the present invention aims to overcome the defects of the prior art and provide an end effector, wherein a conveying device can be quickly and safely assembled with the end effector to form the end effector.

[0008] The technical solution is as follows:

[0009] An end-actuator, comprising: an end-actuator, the end-actuator comprising a clamp and a receiving tube, the receiving tube being provided with an axially extending channel, the proximal end of the clamp being receivable in the receiving tube channel; the end-actuator further comprising a connecting piece, the connecting piece comprising an expansion portion and an extension portion, the extension portion being connected to the receiving tube, the expansion portion being provided outside the receiving tube channel, the expansion portion comprising a sleeve hole and a first connecting portion; a conveying device, the conveying device comprising a sheath tube and a core shaft, the sheath tube being provided with a channel, the core shaft being provided in the sheath tube channel, the distal end of the core shaft A connecting end is provided at the end, and a second connecting part is provided at the distal end of the sheath, and the sheath and the end execution device can be releasably connected; when the sheath is sleeved outside the connecting piece, the connecting end extends into the sleeve hole, and the first connecting part of the end execution device moves to be combined with the second connecting part of the sheath, and the sheath and the end execution device are in a connected state; the connecting end withdraws from the sleeve hole, and the first connecting part of the end execution device moves to be uncoupled from the second connecting part of the sheath, and the sheath and the end execution device are in a unconnected state.

[0010] In some embodiments, when the sheath is sleeved outside the connector, the connecting end extends into the sleeve hole, the first connecting portion of the end actuator expands radially outward to be coupled to the second connecting portion of the sheath, and the sheath and the end actuator are in a connected state; the connecting end withdraws from the sleeve hole, the first connecting portion of the end actuator rebounds radially inward to be uncoupled from the second connecting portion of the sheath, and the sheath and the end actuator are in a unconnected state.

[0011] In some embodiments, the clamp includes a first clamp arm, a second clamp arm, and a locking pin connecting the first clamp arm and the second clamp arm, the first clamp arm close to the locking pin has a first bent portion bent toward the second clamp arm, and the first bent portion has a first hole; the second clamp arm close to the locking pin has a second bent portion bent toward the first clamp arm, and the second bent portion has a second hole; at least part of the first hole and the second hole overlap to form a connecting hole, and the connecting end can be releasably connected to the connecting hole.

[0012] In some embodiments, the extension portion is connected to the storage tube at a connection position, and the extension portion is fixedly connected or detachably connected to the storage tube.

[0013] In some embodiments, the connection position is recessed in the tube wall of the storage tube, and the radial dimension of the connection position is less than or equal to the outer diameter of the storage tube.

[0014] In some embodiments, a groove or a hole is provided on the outer wall of the proximal end of the storage tube, and the groove or the hole constitutes a connection position.

[0015] In some embodiments, the end execution device also includes an inner tube sleeved in the receiving tube channel, the inner tube is connected to the receiving tube, a first opening is provided at the proximal end of the receiving tube, and the first opening and the outer wall of the inner tube constitute the connection position.

[0016] In some embodiments, the storage tube includes a first storage tube and a second storage tube sleeved in the first storage tube channel, the inner tube is inserted into the second storage tube channel, a second opening is provided at the proximal end of the second storage tube, and the second opening and the outer wall of the inner tube constitute the connection position.

[0017] In some embodiments, a third opening is provided at the proximal end of the first receiving tube, the third opening and the second opening are connected to each other, and the second opening, the third opening and the outer wall of the inner tube constitute the connecting position.

[0018] In some embodiments, the wall of the first receiving tube passes through the second opening, and the second opening and the outer wall of the inner tube constitute the connecting position, and the connecting position is arranged in the channel of the first receiving tube.

[0019] In some embodiments, a protrusion is provided on the outer side of the support portion, and the protrusion constitutes the first connecting portion.

[0020] In some embodiments, the plane where the expansion portion is located is perpendicular to the plane where the extension portion is located, the extension portion is axially fixed to the receiving tube, and the sleeve hole radially expands or rebounds.

[0021] In some embodiments, the extension portion is provided with a U-shaped fork of a first extension arm and a second extension arm, an opening is provided between the first extension arm and the second extension arm, the first end of the first extension arm and the first end of the second extension arm are connected to each other, and the second end of the first extension arm and the second end of the second extension arm are connected to the expansion portion. The U-shaped fork structure of the extension portion provided with the first extension arm and the second extension arm has the following technical effects: first, the extension arm of the U-shaped fork and the connecting tube are used for fixed connection such as welding, which facilitates assembly operability and stability; second, the U-shaped fork does not hinder the movement space of the protrusion of the connector to connect with the end actuator when elastically expanded; third, an opening is provided between the first extension arm and the second extension arm, which gives the protrusion of the connector elasticity, so that the first connection portion of the end actuator expands radially outward to combine with the second connection portion of the sheath tube.

[0022] In some embodiments, one end of the support portion is fixedly connected or integrally connected to the extension portion, and the inner space of the support portion constitutes a socket hole.

[0023] In some embodiments, the expansion portion further includes a notch.

[0024] In some embodiments, the number of the expansion parts is the same as the number of the extension parts, or the number of the expansion parts is greater than the number of the extension parts; the number of the expansion parts is less than the number of the extension parts.

[0025] In some embodiments, the radial dimension of the connecting end is C, the dimension of the socket hole is D, the connecting end exits the socket hole, and the radial dimension C of the connecting end is greater than the dimension D of the socket hole; the connecting end extends into the socket hole, and the dimension D of the socket hole is greater than or equal to the radial dimension C of the connecting end.

[0026] In some embodiments, the first connecting portion is at least two protrusions arranged on the expansion portion, and the second connecting portion is a connecting recess arranged at the distal end of the sheath; a blocking portion is provided at the distal end of the connecting recess, the blocking portion size is A, and the connecting recess size is B; the connecting end head withdraws from the sleeve hole, and the first connecting portion size E is smaller than the blocking portion size A; the connecting end head extends into the sleeve hole, the first connecting portion size E is larger than the blocking portion size A and the first connecting portion size E is smaller than the connecting recess size B.

[0027] In some embodiments, the storage tube includes a first storage tube and a second storage tube sleeved in the first storage tube channel, the inner tube is inserted into the second storage tube channel, the inner wall of the first storage tube and the outer wall of the second storage tube constitute a blocking position, the clamp also includes a locking pin, the radially inward deflected spring piece of the first storage tube constitutes a locking part, the locking part prevents the locking pin from moving from the proximal end to the distal end, and the blocking position prevents the locking pin from moving from the proximal end to the distal end.

[0028] In some embodiments, the inner wall groove of the storage tube constitutes a blocking position, the clip also includes a locking pin, and the radially inwardly deflected spring piece of the first storage tube constitutes a locking portion, the locking portion prevents the locking pin from moving from the proximal end to the distal end, and the blocking position prevents the locking pin from moving from the proximal end to the distal end.

[0029] In some embodiments, a blocking member is further provided at the proximal end of the clip, and the blocking member is respectively connected to the second bending portion, the second bending portion, and the locking pin, so that the releasable connection between the connecting end and the connecting hole is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1This is a schematic diagram of the overall structure of an end effector according to one embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the end effector of one embodiment of the present invention;

[0032] Figure 3 A cross-sectional view of a portion of the structure of an end effector according to one embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of a connector according to one embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the structure of an end actuator according to one embodiment of the present invention;

[0035] Figure 6 It is a front view of the structure of an end effector according to one embodiment of the present invention;

[0036] Figure 7-Figure 9 AA views of different end effectors;

[0037] Fig.10 This is a schematic diagram of the structure of an end actuator according to one embodiment of the present invention;

[0038] Fig.11 It is a front view of the structure of an end effector according to one embodiment of the present invention;

[0039] Figure 12-14 1 is an AA view of different end effectors;

[0040] Fig.15 (a)- Fig.15 (d) is a schematic diagram of the structure of the connecting piece according to different embodiments of the present invention;

[0041] Fig.15 (e)- Fig.15 (g) is a front view of a connecting member structure according to different embodiments of the present invention;

[0042] Fig.16 A cross-sectional view of a portion of the structure of an end effector according to one embodiment of the present invention;

[0043] Fig.17 A cross-sectional view of a clip structure according to one embodiment of the present invention;

[0044] Fig.18 A cross-sectional view of a storage tube structure according to one embodiment of the present invention;

[0045] Fig.19 This is a cross-sectional view of a storage tube structure according to one embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below, but the embodiments of the present invention are not limited thereto.

[0047] In some embodiments, the end effector and the delivery device can be designed as an integrated unit (referred to as an "integrated end effector"). However, the integrated end effector and delivery device are disposable, which results in a higher cost and more medical waste, which is not economical or environmentally friendly.

[0048] In some embodiments, the end effector and the delivery device can be designed separately (referred to as a "separate end effector"), wherein the end effector is disposable and the delivery device is reusable, thereby saving costs, reducing the generation of medical waste, and being economical and environmentally friendly.

[0049] In some embodiments, the assembly process of the end effector and the delivery device (converting the delivery device and the end effector from a non-connected state to a connected state) can be completed by the manufacturer before shipment.

[0050] In some embodiments, the assembly process of the end effector and the delivery device (converting the delivery device and the end effector from a non-connected state to a connected state) can be completed by a surgical operator during a surgical procedure.

[0051] In some embodiments, the "proximal end" and "distal end" involved in the present application can indicate directions, which refer to the axial direction of the end effector (the extension direction of the sheath of the end effector in the endoscope channel), the side facing the operator is the "proximal end", and the side facing the human body for treatment is the "distal end", and the "proximal end" and "distal end" should not be understood as indicating only the ends. The "radial" direction is perpendicular to the "axial" direction, or the axial direction is the extension direction of the channel of the receiving tube or sheath, and the radial direction is the extension direction of the channel perpendicular to the receiving tube or sheath. "Radially outward" refers to the direction extending from the inner side of the channel of the receiving tube or sheath to the outer side of the channel, and "radially inward" refers to the direction extending from the outer side of the channel of the receiving tube or sheath to the inner side of the channel.

[0052] In some embodiments, the end effector includes an end effector and a delivery device, the end effector includes a clamp 400 and a receiving tube 500, the delivery device includes a sheath 200 and a core shaft 211 disposed in a channel of the sheath 200, and the delivery device also includes a control device 100, the control device includes a handle 110 and a sliding portion 120, such as Figure 1 shown.

[0053] In some embodiments, the end execution device includes a clamp 400 and a storage tube 500, the storage tube 500 is provided with an axially extending channel 501, the proximal end of the clamp 400 can be stored in the storage tube channel 501, the tightening tube channel 501 is a accommodating space formed by the inner side of the tube wall of the storage tube 500, and does not include the extension space of the accommodating space formed by the inner side of the tube wall of the storage tube 500 in the axial direction; the end execution device also includes a connecting member 300, the connecting member 300 includes a support portion 310 and an extension portion 320, the extension portion 320 is connected to the storage tube 500, the support portion 310 is provided outside the storage tube 500 channel, and the support portion 310 includes a sleeve hole 311 and a first connecting portion 312.

[0054] In some embodiments, the delivery device includes a sheath 200 and a core shaft 211, the sheath 200 is provided with a channel, the core shaft 211 is arranged in the channel of the sheath 200, the distal end of the core shaft 211 is provided with a connecting end 211, the distal end of the sheath 200 is provided with a second connecting portion 202, and the sheath 200 and the end execution device are releasably connected; when the sheath 200 is sleeved on the outside of the connector 300, the connecting end 211 extends into the sleeve hole 311, the first connecting portion 312 of the end execution device moves to be combined with the second connecting portion 202 of the sheath 200, and the sheath 200 and the end execution device are in a connected state; the connecting end 211 withdraws from the sleeve hole 311, the first connecting portion 312 of the end execution device moves to be uncoupled from the second connecting portion 202 of the sheath 200, and the sheath 200 and the end execution device are in a unconnected state.

[0055] In some embodiments, when the sheath 200 is sleeved on the outside of the connector 300, the connecting end 211 extends into the sleeve hole 311, and the first connecting portion 312 of the end actuator expands radially outward to be combined with the second connecting portion 202 of the sheath 200, and the sheath 200 and the end actuator are in a connected state; the connecting end 211 withdraws from the sleeve hole 311, and the first connecting portion 312 of the end actuator rebounds radially inward to be uncoupled from the second connecting portion 202 of the sheath 200, and the sheath 200 and the end actuator are in a unconnected state.

[0056] In some embodiments, Figure 3 and Fig.17As shown, the clamp 400 includes a first clamp arm 410, a second clamp arm 420, and a locking pin 601 connecting the first clamp arm 410 and the second clamp arm 420; the first clamp arm 410, close to the locking pin 601, is provided with a first bent portion 411 bent toward the second clamp arm 420, and the first bent portion 411 is provided with a first hole 412; the second clamp arm 420, close to the locking pin 601, is provided with a second bent portion 421 bent toward the first clamp arm 420, and the second bent portion 421 is provided with a second hole 422; at least part of the first hole 412 and the second hole 422 overlap to form a connecting hole 432, and the connecting end 211 includes a large diameter portion and a small diameter portion arranged at the distal end. When the large diameter portion at the distal end of the connecting terminal 211 passes through the connecting hole 432, the first bent portion 411 and the second bent portion 421 at the proximal end of the clamp 400 will be deformed so that the size of the connecting hole 432 becomes larger; when the large diameter portion at the distal end of the connecting terminal 211 is accommodated in the accommodating space formed by the proximal ends of the first clamp arm 410 and the proximal ends of the second clamp arm 420, the size of the connecting hole 432 is restored so that the small diameter portion of the connecting terminal 211 is clamped in the connecting hole 432; therefore, the connecting terminal 211 and the connecting hole 432 form a releasable connection.

[0057] In some embodiments, Fig.16 As shown, when the connecting end 211 passes through or exits the connecting hole 432, the first bending portion 411 and the second bending portion 421 at the proximal end of the clip 400 will be deformed so that the size of the connecting hole 432 will change, but the size change range of the connecting hole 432 and the deformation of the first bending portion 411 and the second bending portion 421 need to be controlled within a safe range. A blocking member 550 is also provided at the proximal end of the clip 400. The blocking member 550 is pre-connected with the first bending portion 411, the second bending portion 421, and the locking pin 601, respectively, so that the connecting end 211 and the connecting hole 432 can be releasably connected more stably.

[0058] In some embodiments, Figure 3 and Figure 5 As shown, the locking portion of the storage tube 500 may include a spring 530, one end of which is fixedly connected to the storage tube 500, and the other end of the spring 510 extends into the storage tube channel 501. In some embodiments, the storage tube 500 is an integrated tube body, and the spring 510 may be arranged on the storage tube 500. In some embodiments, one end of the spring 510 is fixedly connected to the side wall of the storage tube 500, and the other end of the spring 510 extends into the storage tube channel 501.

[0059] In some embodiments, the clip 400 includes a locking pin 601 connecting the first clamp arm 410 and the second clamp arm 420, and the two ends of the locking pin 601 constitute a locking portion. There are two springs 510, which correspond to the two ends of the locking pin 601 respectively. The clip 400 is provided with a locking pin 601, that is, both ends of the locking pin 601 constitute a locking portion, which correspond to two locking portions (springs) 530 respectively. The locking portions (springs) 530 prevent the locking pin 601 from moving from the proximal end to the distal end. The locking pin 601 is used to lock the positional relationship between the clip 400 and the storage tube 500, and prevent the clip 400 from moving from the distal end of the storage tube 500 to open.

[0060] In some embodiments, Fig.19 As shown, the inner wall groove 540 of the storage tube 500 constitutes a blocking position. The blocking position (groove) 540 is directly set on the tightening tube 500, which reduces the parts assembly process and improves safety. When the locking pin 601 passes over the locking portion 530 of the tightening tube 500 and is located at the blocking position (groove) 540, the size of the locking pin 601 is engaged in the blocking position (groove) 540. The blocking position (groove) 540 prevents the locking pin 601 from moving from the proximal end to the distal end, preventing the clip 400 from being excessively stored in the channel of the storage tube 500. In some embodiments, as Fig.18 As shown, the storage tube 500 of the end effector may include a first storage tube 510 and a second storage tube 520, wherein the step cooperation of the first storage tube 510 and the second storage tube 520 can replace the function of the blocking position (groove) 540, and complete the prevention of the locking pin 601 from moving from the proximal end to the distal end, and prevent the clip 400 from being excessively stored in the channel of the storage tube 500. The storage tube is divided into a first storage tube 510 and a second storage tube 520. After fine structures are made on the first storage tube 510 and the second storage tube 520, the first storage tube 510 is sleeved outside the second storage tube 520, so that the first storage tube 510 and the second storage tube 520 constitute the storage tube 500, which is convenient for production and manufacturing, especially for the production and manufacturing of small equipment such as end effectors for endoscopic operation.

[0061] In some embodiments, Figure 4As shown, the connecting member 300 includes an expansion portion 310 and an extension portion 320, and the plane where the expansion portion 310 is located is perpendicular to the plane where the extension portion 320 is located; the extension portion 320 is provided with a U-shaped fork of a first extension arm 321 and a second extension arm 322, and an opening is provided between the first extension arm 321 and the second extension arm 322, the first end of the first extension arm 321 and the first end of the second extension arm 322 are connected to each other, and the second end of the first extension arm 321 and the second end of the second extension arm 322 are connected to the expansion portion 310; the first extension arm 321 and the second extension arm 322 can be close to or far away from each other. The advantage of disposing the expansion portion 310 in the extended space outside the storage tube 500 channel so that the connection position between the connecting end 211 and the sleeve hole 311 of the expansion portion 310 occurs before the connecting end 211 enters the storage tube channel 501 is that the first connection portion 312 of the expansion portion 310 has a larger movement space and is not constrained by the storage tube channel 501, that is, the first connection portion 312 of the end execution device moves more smoothly to be non-combined with or combined with the second connection portion 202 of the sheath 200. The reason for setting the fixed connection position of the extension part 320 to the storage tube 500 at the tube wall of the storage tube 500 or outside the tube wall is that the space of the storage tube channel 501 is small, so the connection position of the extension part 320 and the storage tube 500 is transferred to the outside of the storage tube channel 501 with a larger space; and the two functional components of the connection part 300 are separated: first, the movement space of the expansion part 310 combined with or not combined with the sheath tube 200 is larger, so that the assembly process of the conveying device and the end execution device is faster; second, the extension part 320 is used to fix the connecting piece 300 to prevent the sleeve hole 311 from shifting when the docking connection end 211, so that the assembly process of the conveying device and the end execution device is more stable.

[0062] In some embodiments, Figure 4 As shown, one end of the opening portion 310 is integrally formed with the extension portion 320, and the inner space of the opening portion 310 forms a sleeve hole 311. In some embodiments, one end of the opening portion 310 is fixedly connected to the extension portion 320.

[0063] In some embodiments, Figure 2As shown, a protrusion 312 is provided on the outside of the expansion part 310, and the protrusion 312 constitutes a first connection part; a sleeve hole 311 is formed inside the expansion part 310, and the size of the sleeve hole 311 is variable. When the connecting end 211 exits the sleeve hole 311, the size C of the connecting end 211 is greater than the size D of the sleeve hole; the connecting end 211 extends into the sleeve hole 311, and the size D of the sleeve hole is greater than or equal to the radial size C of the connecting end. When the connecting end 211 extends into the sleeve hole 311, the first connection part (protrusion) 312 provided on the expansion part 310 moves radially outward to be combined with the second connection part 202 of the sheath tube 200, and the sheath tube 200 and the end actuator are in a connected state; when the connecting end 211 exits the sleeve hole 311, the first connection part (protrusion) 312 provided on the expansion part 310 moves radially inward to be uncoupled from the second connection part 202 of the sheath tube 200, and the sheath tube 200 and the end actuator are in a unconnected state.

[0064] In some embodiments, Figure 2 and Figure 3 As shown, the second connection part is a connection recess 202 provided at the distal end 201 of the sheath tube, and the size of the connection recess 202 is B; the proximal edge of the connection recess 202 is a blocking part 203, and the size of the blocking part 203 is A; the connection end 211 extends into the sleeve hole 311, and the first connection part (protrusion) 312 provided at the support part 310 moves radially outward, and the first connection part size E is greater than the blocking part size A and the first connection part size E is smaller than the second connection part size B. That is, the first connection part (protrusion) 312 is engaged in the connection recess 202, and the sheath tube 200 and the end execution device are in a connected state. The connection end 211 withdraws from the sleeve hole 311, and the first connection part (protrusion) 312 provided at the support part 310 moves radially inward, and the first connection part size E is smaller than the blocking part size A, so the first connection part (protrusion) 312 can be disengaged from the connection recess 202 provided at the distal end 201 of the sheath tube, that is, the sheath tube 200 and the end execution device are in a non-connected state.

[0065] In some embodiments, the expansion portion 310 includes a notch 313 , and the notch 313 can increase the expansion amplitude of the expansion portion 310 when squeezed.

[0066] In some embodiments, the number of the expansion portions 310 is the same as the number of the extension portions 320. Fig.15 As shown in (a), the connecting member 300 is provided with two extension parts 320 and two expansion parts 310, and the expansion parts 310 are respectively provided with protrusions 312, and the distance between the two protrusions 312 constitutes the first connecting part size. Fig.15 As shown in (c), the connecting member 300 is provided with three extension parts 320 and three expansion parts 310, and the expansion parts 310 are respectively provided with protrusions 312, and the maximum distance between the protrusions 312 constitutes the first connecting part size. Fig.15As shown in (d), the connecting member 300 is provided with four extension parts 320 and four expansion parts 310, and the expansion parts 310 are respectively provided with protrusions 312, and the maximum distance between the protrusions 312 constitutes the first connecting part size.

[0067] In some embodiments, the number of the expansion portions 310 is greater than the number of the extension portions 320. Fig.15 As shown in (b), the connecting member 300 is provided with an extension portion 320 and two expansion portions 310, and the expansion portions 310 are respectively provided with a protrusion 312, and the distance between the two protrusions 312 constitutes the first connecting portion size.

[0068] In some embodiments, the number of the expansion portions 310 is less than the number of the extension portions 320. Fig.15 As shown in (f), the connecting member 300 is provided with four extension parts 320 and three expansion parts 310, and each expansion part 310 is provided with a protrusion 312, and the distance between two protrusions 312 located on the diagonal line constitutes the first connecting part size. Fig.15 As shown in (f), the connecting member 300 is provided with four extension parts 320 and two expansion parts 310, and the expansion parts 310 are respectively provided with protrusions 312, and the distance between two protrusions 312 located on the diagonal line constitutes the first connecting part size.

[0069] In some embodiments, each of the expansion portions 310 is provided with a protrusion 312. In some embodiments, each of the expansion portions 310 is provided with a plurality of protrusions 312. In some embodiments, some of the expansion portions 310 are provided with protrusions 312, and some of the expansion portions 310 are not provided with protrusions 312.

[0070] In some embodiments, the extension portion 320 is connected to the receiving tube 500 at a connection position, and the extension portion 320 is fixedly connected to the receiving tube 500, such as welding, bonding, etc. In some embodiments, the extension portion 320 is connected to the receiving tube 500 at a connection position, and the extension portion 320 is detachably connected to the receiving tube 500, such as elastic clamping, interference connection, etc.

[0071] In some embodiments, Fig.12As shown, the storage tube 500 is provided with two slots 503 with hollow channels, the slots 503 are provided on the tube wall of the storage tube 500, the slots 503 constitute a connection position, the radial dimension of the connection position is the distance between the two slots 503, and the radial dimension of the connection position is less than or equal to the outer diameter of the storage tube. The first extension arm 321 and the second extension arm 322 of the extension part 320 extend into the slots 503 respectively and are fixed to the slots 503. The plane where the expansion part 310, which is perpendicular to the extension part 320, is located is located in the axial extension space of the channel where the storage tube 500 is located (located outside the storage tube channel 501), and the sleeve hole 311 formed by the expansion part 310 is located at the proximal end of the storage tube 500. When the connecting end 211 moves from the proximal end to the distal end, it first extends into the sleeve hole 311 to expand the expansion part 310 and then continues to move from the proximal end to the distal end to enter the storage tube channel 501. The extension part 320 fixes the connector 300 to the receiving tube 500 . Since the extension part 320 is fixed to the receiving tube 500 via a connection position provided outside the receiving tube channel 501 , it not only does not increase the channel space of the sheath tube 500 , but also affects the radial outward movement of the expansion part 310 .

[0072] In some embodiments, Fig.13 As shown, the storage tube 500 channel is also provided with an inner tube 700 sleeved in the storage tube channel 501, and the outer wall of the inner tube 700 and the inner wall of the storage tube 500 are provided with a groove 503 to form a connection point 502. In comparison, since the tube wall size of the storage tube 500 is very small, it is possible to directly set the tube wall of the storage tube 500, for example Fig.12 It is very difficult to completely close the groove 503. It is more convenient to set the inner tube 700 in the channel of the storage tube 500, and the inner tube 700 is only arranged at the proximal end of the channel of the storage tube 500, which does not affect the storage space at the distal end of the channel of the storage tube 500 for accommodating the first clamp arm 410 and the second clamp arm 420.

[0073] In some embodiments, Fig.14 As shown, the storage tube 500 is divided into a first storage tube 510 and a second storage tube 520. After fine structures are made on the first storage tube 510 and the second storage tube 520, the first storage tube 510 is sleeved outside the second storage tube 520, so that the first storage tube 510 and the second storage tube 520 constitute the storage tube 500. A second opening 521 is provided on the tube wall of the second storage tube 520 sleeved in the channel of the first storage tube 510, and the inner wall of the first storage tube 510 is provided in the radially outward direction of the second opening 521, and the outer wall of the inner tube 700 is provided in the radially inward direction of the second opening 521, that is, the inner wall of the first storage tube 510, the second opening 521 of the second storage tube 520, and the outer wall of the inner tube 700 constitute the connection position 502.

[0074] In some embodiments, Figure 7As shown, the outer wall of the storage tube 500 is provided with two openings 504, and the openings 504 constitute a connection position 502, and the radial dimension of the connection position is the distance between the two openings 504, and the radial dimension of the connection position is less than or equal to the outer diameter of the storage tube. The first extension arm 321 and the second extension arm 322 of the extension part 320 extend into the opening 504 respectively and are fixed to the opening 504, and the plane where the expansion part 310, which is perpendicular to the extension part 320, is located is located in the axial extension space of the channel where the storage tube 500 is located (located outside the storage tube channel 501), and the sleeve hole 311 formed by the expansion part 310 is located at the proximal end of the storage tube 500. When the connecting end 211 moves from the proximal end to the distal end, it first extends into the sleeve hole 311 to expand the expansion part 310 and then continues to move from the proximal end to the distal end to enter the storage tube channel 501. The extension part 320 fixes the connector 300 to the receiving tube 500. Since the extension part 320 is fixed to the receiving tube 500 through the connection position provided outside the receiving tube channel 501, it not only does not increase the channel space of the sheath tube 500, but also affects the radial outward movement of the expansion part 310. Fig.12 The outer wall of the storage tube 500 is provided with two slots 503. Figure 7 The outer wall of the receiving tube 500 is provided with two openings 504 , which is easier to process, has lower cost, and provides more space for the extension part 320 to be fixed in the openings 504 .

[0075] In some embodiments, Figure 8 As shown, the channel of the storage tube 500 is also provided with an inner tube 700 sleeved in the channel 501 of the storage tube, and the tube wall of the storage tube 500 is provided with a first opening 505, and the first opening 505 and the outer wall of the inner tube 700 together form a connection position 502. In comparison, the process of directly providing the first opening 505 on the tube wall of the storage tube 500 is simple, and the inner tube 700 is sleeved in the proximal channel of the storage tube 500, and the storage tube 500 and the inner tube 700 are fixed by welding, bonding, sleeve connection, etc., and the first extension arm 321 and the second extension arm 322 of the extension part 320 are respectively fixed to the outer wall of the inner tube 700 by welding, bonding, etc., that is, the storage tube 500 and the extension part 320 are respectively fixedly connected with the inner tube 700 to complete the fixed connection of the storage tube 500 and the extension part 320.

[0076] In some embodiments, Fig. 9As shown, the storage tube 500 is divided into a first storage tube 510 and a second storage tube 520. After fine structures are made on the first storage tube 510 and the second storage tube 520 respectively, the first storage tube 510 is sleeved on the outside of the second storage tube 520, so that the first storage tube 510 and the second storage tube 520 constitute the storage tube 500. The tube wall of the first storage tube 510 is provided with a third opening 511, and the tube wall of the second storage tube 520 sleeved in the channel of the first storage tube 510 is provided with a second opening 521. The third opening 511 and the second opening 521 are butted against each other, and the outer wall of the inner tube 700 is provided in the radially inward direction of the second opening 521, that is, the third opening 511 of the first storage tube 510, the second opening 521 of the second storage tube 520, and the outer wall of the inner tube 700 constitute the connection position 502. In comparison Fig.14 The inner wall of the first receiving tube 510, the second opening 521 of the second receiving tube 520, and the outer wall of the inner tube 700 constitute the connecting position 502. Fig. 9 The third opening 511 of the first receiving tube 510 is replaced by Fig.14 The inner wall of the first receiving tube 510 has a simpler processing technology; the first receiving tube 510 and the second receiving tube 520 are fixed by welding, bonding, sleeve connection and the like, the second receiving tube 520 and the inner tube 700 are fixed by welding, bonding, sleeve connection and the like, the first extension arm 321 and the second extension arm 322 of the extension part 320 are respectively fixed to the outer wall of the inner tube 700 by welding, bonding and the like, that is, the receiving tube (the first receiving tube 510 and the second receiving tube 520) and the extension part 320 are respectively fixedly connected to the inner tube 700 to complete the fixed connection between the receiving tube (the first receiving tube 510 and the second receiving tube 520) and the extension part 320.

[0077] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.

[0078] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0079] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

Claims

1. An end effector, characterized in that: include: An end effector, the end effector comprising a clamp and a receiving tube, the receiving tube being provided with an axially extending channel, the proximal end of the clamp being receivable in the receiving tube channel; the end effector further comprising a connecting member, the connecting member comprising an expansion portion and an extension portion, the extension portion being connected to the receiving tube, the expansion portion being provided outside the receiving tube channel, the expansion portion comprising a sleeve hole and a first connecting portion; A delivery device, the delivery device comprising a sheath tube and a core shaft, the sheath tube is provided with a channel, the core shaft is arranged in the sheath tube channel, the distal end of the core shaft is provided with a connecting end, the distal end of the sheath tube is provided with a second connecting portion, and the sheath tube is releasably connected to the end actuator; When the sheath is sleeved outside the connector, the connecting end extends into the sleeve hole, the first connecting portion of the end actuator expands radially outward to be coupled to the second connecting portion of the sheath, and the sheath and the end actuator are in a connected state; the connecting end withdraws from the sleeve hole, the first connecting portion of the end actuator rebounds radially inward to be uncoupled from the second connecting portion of the sheath, and the sheath and the end actuator are in a unconnected state.

2. The end effector according to claim 1, characterized in that: The extension part is connected to the storage tube at a connection position, and the extension part is fixedly connected or detachably connected to the storage tube.

3. The end effector according to claim 2, characterized in that: The connection position is recessed in the tube wall of the receiving tube, and the radial dimension of the connection position is smaller than or equal to the outer diameter of the receiving tube.

4. The end effector according to claim 2, characterized in that: The outer wall of the proximal end of the storage tube is provided with a slot or a hole, and the slot or the hole constitutes a connection position.

5. The end effector according to claim 2, characterized in that: The end execution device also includes an inner tube sleeved in the receiving tube channel, the inner tube is connected to the receiving tube, a first opening is provided at the proximal end of the receiving tube, and the first opening and the outer wall of the inner tube constitute the connection position.

6. The end effector according to claim 5, characterized in that: The storage tube includes a first storage tube and a second storage tube sleeved in the first storage tube channel, the inner tube is inserted into the second storage tube channel, a second opening is provided at the proximal end of the second storage tube, and the second opening and the outer wall of the inner tube constitute the connection position.

7. The end effector according to claim 6, characterized in that: A third opening is provided at the proximal end of the first receiving tube, the third opening and the second opening are butted against each other, and the second opening, the third opening and the outer wall of the inner tube constitute the connecting position.

8. The end effector according to claim 6, characterized in that: The wall of the first receiving tube passes through the second opening, and the second opening and the outer wall of the inner tube constitute the connecting position, which is arranged in the channel of the first receiving tube.

9. The end effector according to claim 1, characterized in that: A protrusion is disposed on the outer side of the support portion, and the protrusion constitutes the first connecting portion.

10. The end effector according to claim 9, characterized in that: The plane where the expansion portion is located is perpendicular to the plane where the extension portion is located. The extension portion is axially fixed to the receiving tube, and the sleeve hole radially expands or rebounds.

11. The end effector according to claim 1 or 9, characterized in that: The extension portion is provided with a U-shaped fork of a first extension arm and a second extension arm, an opening is provided between the first extension arm and the second extension arm, the first end of the first extension arm and the first end of the second extension arm are connected to each other, and the second end of the first extension arm and the second end of the second extension arm are connected to the support portion.

12. The end effector according to claim 1 or 9, characterized in that: One end of the expansion portion is fixedly connected or integrally connected to the extension portion, and the inner space of the expansion portion forms a sleeve hole.

13. The end effector according to claim 1 or 9, characterized in that: The expansion portion further includes a notch.

14. The end effector according to claim 1 or 9, characterized in that: The number of the expansion parts is the same as the number of the extension parts, or the number of the expansion parts is greater than the number of the extension parts; the number of the expansion parts is less than the number of the extension parts.

15. The end effector according to claim 1, characterized in that: The radial dimension of the connecting end is C, the dimension of the sleeve hole is D, the connecting end exits the sleeve hole, and the radial dimension C of the connecting end is greater than the dimension D of the sleeve hole; the connecting end extends into the sleeve hole, and the dimension D of the sleeve hole is greater than or equal to the radial dimension C of the connecting end.

16. The end effector according to claim 15, characterized in that: The first connecting part is at least two protrusions arranged on the expansion part, and the second connecting part is a connecting recess arranged at the distal end of the sheath; a blocking part is provided at the distal end of the connecting recess, the blocking part size is A, and the second connecting part size is B; the connecting end head withdraws from the sleeve hole, and the first connecting part size E is smaller than the blocking part size A; the connecting end head extends into the sleeve hole, the first connecting part size E is larger than the blocking part size A and the first connecting part size E is smaller than the second connecting part size B.

17. The end effector according to claim 5, characterized in that: The storage tube includes a first storage tube and a second storage tube sleeved in the first storage tube channel, the inner tube is inserted into the second storage tube channel, the inner wall of the first storage tube and the outer wall of the second storage tube constitute a blocking position, the clip also includes a locking pin, the radially inwardly deflected spring piece of the first storage tube constitutes a locking part, the locking part prevents the locking pin from moving from the proximal end to the distal end, and the blocking position prevents the locking pin from moving from the proximal end to the distal end.

18. The end effector according to claim 6, characterized in that: The inner wall groove of the storage tube constitutes a blocking position, and the clip also includes a locking pin. The radially inwardly deflected spring piece of the first storage tube constitutes a locking part, and the locking part prevents the locking pin from moving from the proximal end to the distal end. The blocking position prevents the locking pin from moving from the proximal end to the distal end.

19. The end effector according to claim 1, characterized in that: The clamp includes a first clamp arm, a second clamp arm, and a locking pin connecting the first clamp arm and the second clamp arm, wherein one end of the first clamp arm close to the locking pin is provided with a first bending portion bent toward the second clamp arm, and the first bending portion is provided with a first hole; one end of the second clamp arm close to the locking pin is provided with a second bending portion bent toward the first clamp arm, and the second bending portion is provided with a second hole; at least part of the first hole and the second hole overlap to form a connecting hole, and the connecting end can be releasably connected to the connecting hole.

20. The end effector according to claim 19, characterized in that: A blocking member is also provided at the proximal end of the clip, and the blocking member is respectively connected to the first bending portion, the second bending portion, and the locking pin, so that the releasable connection between the connecting end and the connecting hole is more stable.

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