Insertion type clamping device and its moving parts

Abstract

An insertable clamping device and a moving part thereof, wherein the moving part has a moving part body and at least two connecting rods, wherein the connecting rods and the moving part body are an integrally formed structure. The connecting rods are connected to the clamping part, and the clamping part opens and closes based on the position change of the moving part. In the structure, the moving part body and the connecting rods are integrally formed, which not only reduces the manufacturing cost, but also reduces the number of parts of the entire structure, has fewer assembly steps, and is lower in cost.

Description

Technical Field

[0001] The present application relates to the field of medical instruments, and in particular to a structure of an insertable clamping instrument used for surgery. Background Art

[0002] An insertable clamping instrument is an insertable medical device, which includes clamping devices used to clamp tissues in the human body or animal (collectively referred to as surgical subjects) and temporarily retain the clamp in the body of the surgical subject after surgery, such as hemostatic clips, tissue clamps, etc. It also includes clamping devices used to clamp tissues in the body of the surgical subject during surgery (the clamp does not need to be retained in the body of the surgical subject after surgery), such as clamps used in minimally invasive surgery.

[0003] Existing clamping devices have complex structures and large sizes. For example, taking a clamping device such as a hemostatic clip (or tissue clip) as an example, one type of hemostatic clip mainly realizes opening and clamping by the cooperation of a clamping arm and a sleeve. Specifically, the left and right clamping arms are loosely assembled together by a pin. When the clamping arm assembly is pulled in the proximal direction, the clamping arm is gradually retracted into the sleeve and engages with the front edge of the sleeve. Limited by the outer diameter of the sleeve, the sleeve applies a reverse extrusion force to the clamping arm, and the clamping arm elastically deforms inward, thereby closing. When the clamping arm assembly moves distally, the clamping arm is pushed out of the sleeve, and the clamping arm automatically reopens due to its elastic restoring force, thereby realizing that the clamping device can be repeatedly opened and closed.

[0004] In another type of hemostatic clip (or tissue clip), the clamping arms are mainly connected by a rotating shaft, and then there is a track inside the sleeve that slides up and down, and the shaft can slide along the track. There is also a fixed shaft at the upper end of the sleeve, and a long hole is opened on the clamping arm. The fixed shaft also passes through the long hole of the clamping arm. The two clamping arms are driven up and down by pushing and pulling the sliding shaft, and the clamping arms are forced to move along the path of the long hole after being blocked by the fixed shaft, thereby achieving opening and closing.

[0005] Among these structures, the driving structure of the clamping arm is relatively complex and difficult to assemble. Summary of the invention

[0006] The present application provides an insertable clamping device and a moving part thereof to demonstrate a new driving connection structure between the moving part and the clamping arm.

[0007] Based on the above purpose, an insertable clamping device is provided in one embodiment of the present application, including:

[0008] A clamping member, the clamping member comprising at least two clamping arms, the clamping arms being used to clamp a target object;

[0009] And a moving part, the moving part is movably arranged, the moving part has a moving part body and at least two connecting rods, the connecting rods and the moving part body are an integrally formed structure, the connecting rods are connected to a clamping part, and the clamping part opens and closes based on the position change of the moving part.

[0010] In one embodiment, the connecting rods are staggered, and each connecting rod is connected to a corresponding clamping arm; the connection points between each connecting rod and the moving part body are distributed around the central axis of the moving part body.

[0011] In one embodiment, the main body of the moving part is a cylindrical structure, and the end of the connecting rod connected to the cylindrical structure is an oblique section formed by oblique cutting of the cylindrical wall of the cylindrical structure, and the connection point where the oblique section is connected to the cylindrical structure is located in a recessed area of ​​the cylindrical structure.

[0012] In one embodiment, the connecting rod corresponds to and is connected to the clamping arm one by one; the connecting rod is relatively arranged on the cylinder wall of the moving part body.

[0013] Based on the above purpose, an insertable clamping device is provided in one embodiment of the present application, including:

[0014] A clamping member, the clamping member comprising at least two clamping arms, wherein the clamping arms are provided with a claw-like structure to clamp a target object;

[0015] A moving part, wherein the moving part is movably arranged;

[0016] And a clamping member connection structure, the clamping member connection structure includes at least two connecting rods, one end of the connecting rod is rotatably connected to one end of the moving member, and the other end is respectively rotatably connected to the corresponding clamping arm, and the clamping member opens and closes based on the position change of the moving member.

[0017] In one embodiment, each of the connecting rods is coaxial with the rotation center of the moving part, the moving part can reciprocate along its axial direction, and the moving trajectory of the moving part has an open self-locking position. When the moving part is located in the open self-locking position, the connecting rod and the clamping arm form a self-locking structure.

[0018] In one embodiment, the self-locking structure is specifically as follows: the rotation center of the connecting rod relative to the moving part passes over the line connecting the rotation centers of each connecting rod and the clamping arm, so that the clamping part opens and forms a self-locking structure.

[0019] In one embodiment, the connecting rod corresponds to and is connected to the clamping arm one by one; and the rotation center line of the connecting rod relative to the moving part passes through the central axis of the moving part.

[0020] In one embodiment, a stroke limiter is further included, the moving part has a limit portion, the stroke limiter cooperates with the limit portion, and the stroke limiter is used to limit the movement of the limit portion and the moving part.

[0021] In one embodiment, the travel limiting member includes a limiting shaft, the limiting portion is a limiting groove opened along the axial direction of the moving member, and the limiting shaft is placed in the limiting groove.

[0022] In one embodiment, the moving part body has a retaining section and a separating section, and the retaining section and the separating section are connected as a whole via a second tearing portion; the retaining section is connected to the connecting rod.

[0023] In one embodiment, the clamping member has a locking structure, the retaining section has a locking fitting portion, and the locking structure is located on the moving path of the locking fitting portion; when the locking fitting portion moves to the locking structure, the two form a locking fit to keep the clamping member in a clamping state.

[0024] In one embodiment, the clamping member forms a cylindrical structure, the connecting rod passes through the cylindrical structure and is connected to the clamping arm; the locking fitting portion includes an elastomer protruding toward the clamping member, the locking structure includes a slot that can cooperate with the elastomer, the elastomer is located in the clamping member and is in an extruded deformation state, and the elastomer can be engaged with the slot under the action of elastic force.

[0025] Based on the above purpose, an embodiment of the present application provides a moving part of an insertable clamping device, wherein the moving part has a moving part body and at least two connecting rods, the connecting rods and the moving part body are an integrally formed structure, and the connecting rods have a connecting portion for connecting to the clamping part.

[0026] In one embodiment, the moving part body has a retaining section and a separating section, and the retaining section and the separating section are connected as a whole via a second tearing portion; the retaining section is connected to the connecting rod.

[0027] In one embodiment, the retaining section has a locking fitting portion, and the locking fitting portion is used to be locked and connected with the locking structure on the clamping member.

[0028] In one embodiment, the moving part has a limiting portion, and the limiting portion is used to cooperate with a travel limiting member on the insertable clamping device to limit the movement of the moving part.

[0029] In one embodiment, the connecting rods are staggered, and the connections between the connecting rods and the moving part body are distributed around the central axis of the moving part body; the moving part body is a cylindrical structure, and the connecting rods are connected to the recessed area of ​​the cylindrical wall of the cylindrical structure; there are two connecting rods, and the two connecting rods are relatively arranged on the cylindrical wall of the moving part body.

[0030] According to the above-mentioned insertable clamping device of one embodiment, the moving part has a moving part body and at least two connecting rods, and the connecting rods and the moving part body are an integrally formed structure. The connecting rods are connected to the clamping part, and the clamping part opens and closes based on the position change of the moving part. In this structure, the moving part body and the connecting rods are integrally formed, which not only reduces the manufacturing cost, but also reduces the number of parts of the entire structure, has fewer assembly steps, and lowers the cost.

[0031] According to the above-mentioned another embodiment of the insertion type clamping device, the moving part is connected to the clamping part through a clamping part connection structure, and the clamping part connection structure includes at least two connecting rods, one end of the connecting rod is rotatably connected to one end of the moving part, and the other end is rotatably connected to the corresponding clamping arm. The clamping part opens and closes based on the position change of the moving part. In this embodiment, the structure is simple, easy to assemble, and the overall cost can be reduced.

[0032] In particular, in one embodiment, when the moving part is in the open self-locking position, the connecting rod and the clamping arm form a self-locking structure. This self-locking state can prevent the clamping part from touching the surrounding tissue of the test object due to misoperation in the open state, thereby causing the clamping part to have a tendency to close. This ensures that the clamping part can be stably in the open state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A cross-sectional view of a clamping member in an embodiment of the present application when the clamping member is in an open state;

[0034] Figure 2 A cross-sectional view of a clamping member in a clamping state in one embodiment of the present application;

[0035] Figure 3 This is a structural schematic diagram of an embodiment of the present application in which the moving member drives the clamping member to move to an open state;

[0036] Figure 4 for Figure 3 A schematic diagram of the structure in the state shown after some of the structures are partially cut open;

[0037] Figure 5 This is a structural schematic diagram of an embodiment of the present application in which the moving member drives the clamping member to move to a clamping state;

[0038] Figure 6 for Figure 5A schematic diagram of the structure in the state shown after some of the structures are partially cut open;

[0039] Figure 7 This is a schematic diagram of the structure of the retaining section and the separating section of the moving part when they are separated in one embodiment of the present application;

[0040] Figure 8 This is a schematic diagram of the structure when the clamping member is separated from the separation base in one embodiment of the present application;

[0041] Fig. 9 This is a schematic diagram of the structure when the moving part is in an open state in one embodiment of the present application;

[0042] Fig.10 This is a schematic diagram of the structure when the moving part is in a closed state in one embodiment of the present application;

[0043] Fig.11 This is a structural schematic diagram of an embodiment of the present application in which the moving member drives the clamping member to move to an open state;

[0044] Fig.12 for Fig.11 A schematic diagram of the structure in the state shown after some of the structures are partially cut open;

[0045] Fig.13 This is a structural schematic diagram of an embodiment of the present application in which the moving member drives the clamping member to move to a clamping state;

[0046] Fig.14 for Fig.13 A schematic diagram of the structure in the state shown after some of the structures are partially cut open;

[0047] Fig.15 This is a schematic diagram of the structure of the retaining section and the separating section of the moving part when they are separated in one embodiment of the present application;

[0048] Fig.16 This is a schematic diagram of the structure when the clamping member is separated from the separation base in one embodiment of the present application;

[0049] Fig.17 This is a schematic diagram of the unfolded shape of the clamping member in one embodiment of the present application;

[0050] Fig.18 for Fig.17 An enlarged schematic diagram of the deformation structure of the bendable portion in the illustrated embodiment;

[0051] Fig.19 This is an enlarged schematic diagram of the deformation structure of the bendable portion in another embodiment of the present application;

[0052] Fig. 20 This is a schematic diagram of the structure of an insertable clamping device in one embodiment of the present application, in which the transmission component is omitted. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0054] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0055] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0056] The present embodiment provides an insertable clamping instrument (hereinafter referred to as the clamping instrument for the convenience of description), which can be a clamping device such as a hemostatic clamp, a tissue clamp, etc., which needs to temporarily retain the clamp head in the body of a human or animal (collectively referred to as a surgical subject) after surgery, or a clamping device such as a forceps (the clamp head does not need to be retained in the body of the surgical subject after surgery).

[0057] Please refer to Figure 1-4 The clamping device includes a clamping member 100, a moving member 200, a clamping member connecting structure 600 connecting the clamping member 100 and the moving member 200, and other related structures. The clamping member 100 and the moving member 200 cooperate with each other to achieve clamping and opening actions.

[0058] Please refer to Figure 1-4In this embodiment, the clamping member 100 includes at least two clamping arms 110, and the clamping arms 110 are connected to each other. This connection can be an integral structure or a fixed connection between the clamping arms 110. Each group of clamping arms 110 includes a clamping head 1111 and a bendable portion 1112. The clamping head 1111 and the bendable portion 1112 are connected as a whole. Similarly, the connection as a whole can be an integral structure or can be connected as a whole by fixing.

[0059] The gripper structure is a structure that can firmly grasp the target object, such as Figure 1-6 In the embodiment, when the clamping arms 110 are in two groups, the two clamping arms 110 are arranged opposite to each other. Figure 2 In other embodiments, when the clamping arms 110 are in different numbers, they may have different clamping claw structures. For example, when there are three clamping arms 110, the three clamping arms 110 may be arranged in a triangle to grasp the target object.

[0060] Please refer to Figure 1-4 In one embodiment, the clamping member connection structure 600 includes at least two connecting rods 610, and the figure shows two connecting rods 610. One end of the two connecting rods 610 is connected to the distal end of the moving member 200 and can rotate around the axis 620, and the other end is connected to the horizontal axis on the clamping head 1111 and can also rotate around the horizontal axis. Each connecting rod 610 is coaxial with the rotation center of the moving member 200, or it can be non-coaxial.

[0061] The moving part 200 may be a pull rod, a push rod, a pull rope, a wire rope, etc. The movement of the moving part 200 may be movement along its axial direction or rotational movement. Figure 1 and 2 The connecting rod 610 has a Y-shaped structure, and its purpose is to effectively transmit the thrust and pull of the moving part 200 moving up and down to the clamping head 1111, so as to realize the opening and closing control of the clamping head 1111. Figure 1 In the illustrated embodiment, when the moving member 200 moves upward (ie, toward the distal end of the clamping member 100), the clamping member 100 can be controlled to open and switch to the open state. Figure 2 In the embodiment, when the moving member 200 moves downward (ie, toward the proximal end of the clamping member 100), the clamping members 100 can be controlled to move closer to each other and switch to the clamping state.

[0062] Since the clamp 100 is elastic, after being inserted into the surgical object, when the clamp 100 is in an open state and is ready to clamp a target object, if the clamp 100 touches the surrounding tissue by mistake, the clamp 100 will tend to close.

[0063] To address this problem, in one embodiment of the present application, the moving part 200 has an open self-locking position on its moving trajectory. When the moving part 200 is in the open self-locking position, the connecting rod 610 and the clamping arm 110 form a self-locking structure. The self-locking state can ensure that the clamping part 100 can be stably in the open state. The self-locking structure can be implemented by various existing self-locking structures.

[0064] The moving member 200 can reciprocate along its axial direction, for example Figure 1 and 2 In the middle, it moves upward and downward along its axis. Figure 1 As shown, when the moving part 200 is in the open self-locking position, the rotation center A of the connecting rod 610 relative to the moving part 200 passes over the line B connecting the rotation centers of each connecting rod 610 and the clamping arm, so that the clamping part 100 is opened and self-locked.

[0065] Specifically, please refer to Figure 1 As the moving part 200 moves away from the end of the control handle 400 (i.e., the distal end of the clamping part 100), the clamping part 100 can be opened in the opening direction. The rotation center A of the connecting rod 610 and the moving part 200 can cross the connecting line B between the two rotation centers of the connecting rod 610 and the clamping head 1111, thereby forming a self-locking state, so that the clamping part 100 remains in the open state and cannot be easily closed by external force. The clamping head 1111 can only be retracted by controlling the control handle 400.

[0066] During the self-locking process, when the axial angle between the connecting rod 610 and the moving part 200 is gradually reduced, when the angle is close to 90 degrees (the axial direction of the connecting rod 610 and the moving part 200 is close to vertical), the connecting rods 610 on both sides are in a horizontal state, and the opening width is the largest at this time. When the clamping arm 110 encounters an inward external force and has a tendency to close, the connecting rod 610 force is transmitted to the moving part 200 in the reverse direction at this time, but the connecting rods 610 on both sides are in a horizontal state, the forces cancel each other out, and the downward force transmitted to the moving part 200 is almost zero. This structure makes the axial angle between the connecting rod 610 and the moving part 200 less than 90 degrees, so in the direction of the combined force, the moving part 200 is hindered by the upper dead point of the central axis and cannot continue to move upward, so the self-locking effect of the clamping arm 110 being unable to close can be achieved. The moving part 200 can be manually controlled to move downward, change the axial angle between the connecting rod 610 and the moving part 200, and when it is greater than 90 degrees, the self-locking can be released to achieve closure.

[0067] Please refer to Figure 9-14 In another insertable clamping device, the moving part 200 can be an integrally formed structure with the clamping part connecting structure 600.

[0068] The moving part 200 has a moving part body 201 and at least two connecting rods 610. The connecting rod 610 and the moving part body 201 are an integrally formed structure. The integrally formed structure means that the entire moving part 200 is made of the same material in one piece, rather than being assembled from two or more parts. The integrally formed structure (including other integrally formed structures described below) can be made by, but not limited to, injection molding, laser cutting and other mechanical processing techniques. In particular, when laser cutting is used, processing of extremely small gaps can be achieved, which is conducive to the miniaturization of the overall structure and improving the compactness of the structure.

[0069] The connecting rod 610 is connected to the clamping member 100, and the clamping member 100 opens and closes based on the position change of the moving member 200. One end of the two connecting rods 610 are connected together at the head end of the moving member 200, and the other ends are connected to the inner side of the clamping arm 110 respectively. All the connection points are fixed. The moving member 200 can be made of metal material, relying on the elastic deformation of the thin strip of metal, in order to effectively transfer the thrust and pull of the moving member 200 moving up and down to the clamping arm 110, so as to realize the opening and closing control of the clamping arm 110. The one-piece moving member 200 can use a whole piece of material, such as using laser cutting on the tubular structure of the metal pipe itself, and can be integrally processed and formed with other parts of the moving member 200. The parts are naturally assembled together, with only one part, a simple structure, no secondary assembly, and lower cost.

[0070] Please refer to Figure 9-14 In one embodiment, the connecting rods 610 are staggered, and each connecting rod 610 is connected to a clamping arm 110, and one connecting rod 610 can be connected to the clamping arm 110 on the opposite side. The connection points between each connecting rod 610 and the moving part body 201 are distributed around the central axis of the moving part body 201. Generally, these connection points can be evenly distributed around the central axis of the moving part body 201, but in other embodiments, under the premise of being able to achieve the control of the opening and closing of the clamping arm 110, they can also be arranged in an uneven distribution manner.

[0071] Please refer to Figure 9-14 In one embodiment, the moving part body 201 is a cylindrical structure. One end of the connecting rod 610 connected to the cylindrical structure is formed by obliquely cutting the cylindrical wall of the cylindrical structure into an oblique section 611. Because the clamping arm 110 will be accompanied by a certain degree of twisting and deformation during the opening and closing process, the oblique section 611 can enable the connecting rod 610 to better adapt to the twisting and deformation of the clamping arm 110, making the entire opening and closing process of the clamping arm 110 smoother and more stable without jamming.

[0072] Please refer to Fig. 9 and 10In one embodiment, the connection between the oblique section 611 and the cylindrical structure (such as the oblique section 611) is located in the concave area of ​​the cylindrical structure. This allows the deformation area of ​​the connecting rod 610 to extend into the cylindrical structure of the moving part body 201, reducing the length of the connecting rod 610 protruding from the moving part body 201 and shortening the axial length of the entire device.

[0073] As an example, please refer to Figure 9-14 There are two clamping arms 110 and two connecting rods 610, and the connecting rods 610 correspond to and are connected to the clamping arms 110 one by one. The two connecting rods 610 are relatively arranged on the cylinder wall of the moving part body 201. Of course, the number of clamping arms 110 and connecting rods 610 can also be more.

[0074] Furthermore, in order to limit the opening and closing stroke of the clamping member 100, in one embodiment, a stroke limiter is further included, and the moving member 200 has a limiter portion. The stroke limiter cooperates with the limiter portion, and the stroke limiter limits the movement of the limiter portion and the moving member 200 to define the limit stroke of the moving member 200, especially to limit the movement of the moving member 200 to its distal end (i.e., the end where the clamping head 1111 is located), thereby limiting the opening stroke of the clamping member 100. The stroke limiter and the limiter portion can be realized by various limit structures.

[0075] Please refer to Figure 4 , 7 , 12 and 15, in this embodiment, the travel limiter includes a limiter shaft 550, and the limiter portion is a limiter groove 250 opened along the axial direction of the moving part 200. The limiter shaft 550 is placed in the limiter groove 250, and the two ends of the limiter groove 250 respectively limit the moving part 200. Of course, the limiter shaft 550 can be specifically installed on the separation base 500 (described in detail later) or other components, and the travel limiter can usually remain fixed.

[0076] For further information, please refer to Figure 3-6 In one embodiment, the clamping member 100 is an integrally formed structure. This includes the clamping arms 110 and the clamping arms 110 being an integrally formed structure, and the clamping head 1111 and the bendable portion 1112 of the same clamping arm 110 being an integrally formed structure.

[0077] Please refer to Figure 3-6 In one embodiment, the bendable portion 1112 is a semi-cylindrical structure. When the clamp 100 is closed, the bendable portion 1112 can enclose a cylindrical structure. The semi-cylindrical shape refers to an incomplete cylindrical shape, which does not necessarily have to be half of the cylindrical structure, but can also be one-third of the entire cylindrical structure or other sizes. In addition, in other embodiments, the bendable portion 1112 can also be other structures, such as a sheet, etc., and is not limited to the semi-cylindrical structure.

[0078] Furthermore, the bendable portion 1112 has a deformable structure that can bend toward the closing direction of the clamp 100 and / or bend toward the opening direction of the clamp 100. Figure 1 and 2 In the embodiment, the moving member 200 is a pull rod. In other embodiments, the moving member 200 can also be other structures.

[0079] Different from the prior art in which the clamping arm 110 is opened and closed by limiting the position of the clamping arm 110 by a sleeve, in this embodiment, the opening and closing of the clamping arm 110 mainly depends on the deformation of the bendable portion 1112. Figure 2 In the illustrated embodiment, the initial state of the clamping member 100 is the clamping state, that is, the clamping member 100 is in the clamping state when the bendable portion 1112 is not deformed. At this time, the bendable portion 1112 at least has a deformable structure that can bend in the opening direction of the clamping member 100, so that Figure 1 As shown, the clamping member 100 is opened. Of course, in other embodiments, the initial state of the clamping member 100 may also be an open state, for example, when the bendable portion 1112 is not deformed, the clamping member 100 is in an open state. Figure 1 At this time, the bendable portion 1112 at least has a deformable structure that can bend in the closing direction of the clamping member 100, so that it can move to the open state as shown. Figure 2 In the state shown, the clamping member 100 is closed. In other embodiments, the bendable portion 1112 may have a deformation structure that can bend toward the closing direction of the clamping member 100 and toward the opening direction of the clamping member 100 at the same time, so that the clamping member 100 can be more flexibly changed during the opening and closing process.

[0080] The bending deformation resistance of the clamping head 1111 is higher than that of the bendable portion 1112, so as to ensure that the clamping arm 110 provides a better bite effect to the target object. The bending deformation of the bendable portion 1112 is achieved through its structural deformation, for example, by providing a shrinkage seam that can shrink and deform on the bendable portion 1112, or by changing the material thickness of the bendable portion 1112, or by selecting a material that is more easily deformed. Of course, it can also be achieved through other structures. The bending deformation of the bendable portion 1112 is reversible, that is, the bendable portion 1112 is elastic and can rebound and reset when the external force is lost, so this bending deformation can be repeated.

[0081] In the above-mentioned embodiment of the clamping member 100, the sleeve in the existing structure is omitted, and the clamping member 100 is directly driven by the moving member 200, and the clamping member 100 is opened and closed in combination with the deformation state of the bendable portion 1112. Since the limiting effect of the sleeve on the clamping arm 110 is missing, the clamping arm 110 begins to deform from the bendable portion 1112, and its deformation area is closer to the bottom of the entire clamping member 100. Therefore, under the same opening width requirement, the length of the clamping member 100 is shorter than the combination of the clamping arm 110 and the sleeve in the prior art. At the same length, the clamping member 100 can open a larger angle than the combination of the clamping arm 110 and the sleeve in the prior art, and it is easier to bite the tissue of the target object. In addition, the structure of the clamping member 100 avoids the parts matching clearance required for the shaft hole matching or sliding displacement, so the bending repeatability accuracy of the clamping arm 110 is higher.

[0082] Moreover, compared with the combined structure of multiple parts in the existing hemostatic clip (or tissue clip), the use of the clamping member 100 has a simpler structure, lower assembly requirements, greatly reduced costs, and higher control accuracy. Similarly, the length of the entire clamping member 100 is also shorter than that of the existing hemostatic clip (or tissue clip). Since the inner diameter of the endoscope instrument channel is very limited, the shorter clamping member 100 is easier to pass through the endoscope instrument channel.

[0083] Further, as mentioned above, the bending deformation of the bendable portion 1112 is achieved through its integrated structure. Figure 3 , 5 , 17-19, in some embodiments, the end of the clamping member 100 where the clamping head 1111 is located is the distal end, the end away from the clamping head 1111 is the proximal end, and the direction from the proximal end to the distal end of the clamping member 100 is the longitudinal direction of the clamping member 100. In order to realize the deformation structure, the deformation structure includes a plurality of first contraction seams 1113, and the first contraction seams 1113 are arranged in sequence along the longitudinal direction.

[0084] In one embodiment, Figure 5 As shown, the clamping member 100 is kept in the clamping state in the initial state, the first shrinkage gap 1113 is kept in the initial state, and the parts of the bendable portion 1112 are not deformed. Figure 3 As shown, when the clamping member 100 needs to be opened, the bendable portion 1112 deforms outward, and the first shrinkage seam 1113 shrinks and deforms, thereby shrinking the outer side of the bendable portion 1112 (the side of the clamping arms 110 facing away from each other), so that the entire clamping head 1111 is opened.

[0085] Please refer to Figure 3 , 5, 17-19, in one embodiment, the first contraction slits 1113 extend around the circumference of the bendable portion 1112. The first contraction slits 1113 are arranged in parallel. Of course, the first contraction slits 1113 can be arranged in other shapes in addition to being parallel to each other. By arranging the first contraction slits 1113 in parallel along the circumference of the bendable portion 1112, the bending deformation directions of the first contraction slits 1113 can be unified, so that the bending deformation of the clamping member 100 is smoother and more stable.

[0086] In order to achieve smoother bending changes, in one embodiment, the first contraction seams 1113 are divided into several groups, and each group of first contraction seams 1113a has at least one first contraction seam 1113. Figure 3 , 5 , 17-18, in this embodiment, each group of first contraction seams 1113a has two first contraction seams 1113. Fig.19 As shown, in this embodiment, each group of first contraction seams 1113a has one first contraction seam 1113. The contraction of each first contraction seam 1113 can make the bendable portion 1112 have a certain bending angle. Under the combination of multiple groups of first contraction seams 1113, the bendable portion 1112 can have a larger opening and closing angle. The length formed by the combination of all first contraction seams 1113 in the longitudinal direction determines the bending deformation area of ​​the entire bendable portion 1112. The number of the first contraction seam groups 1113a, the longitudinal gap between adjacent first contraction seam groups 1113a, and the number of first contraction seams 1113 in the first contraction seam group 1113a can be flexibly set according to actual needs. For example, the first contraction seam groups 1113a can be 4-6 groups.

[0087] Considering the needs of minimally invasive surgery, the clamping device is usually a very delicate and compact structure. Therefore, under the premise of meeting the small size of the clamping device, the clamping member 100 is usually not suitable to use a thicker material. However, the thinner thickness requirement may lead to a weakening of the strength of the bendable portion 1112. Specifically, Figure 1 and 3 As shown, when the external force applied by the operator is too large, causing the clamping arm 110 to bend outward at a large angle, the clamping arm 110 may break at the bendable portion 1112. Based on this, in one embodiment, as Figure 3 As shown, the bendable portion 1112 has a limiting structure 1114, which is used to limit the maximum angle of the bendable portion 1112 to bend in the opening direction. That is, within the maximum angle, the bendable portion 1112 can bend freely. When its bending angle reaches the maximum angle, the limiting structure 1114 starts to work, limiting the bendable portion 1112 from continuing to bend outward, thereby protecting the bendable portion 1112 and the clamping member 100. The limiting structure 1114 mainly limits the maximum angle by limiting the longitudinal limit of the clamping member 100.

[0088] Please refer to Figure 3 as well as Figure 17-19 In one embodiment, each limiting structure 1114 includes a plurality of limiting units 1114a arranged along the longitudinal direction of the clamping member 100. The limiting unit 1114a includes a first limiting block 1115 and a second limiting block 1116 arranged opposite to each other. Fig.18 As shown in the two partial enlarged figures a and b, there is a gap 1117 arranged in the longitudinal direction between the first limit block 1115 and the second limit block 1116. When the bendable portion 1112 bends in the opening direction, the first limit block 1115 and the second limit block 1116 approach each other and form a buckling structure (see Fig.18 That is, in the initial state, the first limit block 1115 and the second limit block 1116 are as shown in the partial enlarged view in b. Fig.18 As shown in a, a gap 1117 is left. When the clamping member 100 gradually opens outward, the first limit block 1115 and the second limit block 1116 move relative to each other in the longitudinal direction, and the gap 1117 gradually becomes smaller. Finally, when the bendable portion 1112 reaches the maximum angle, Fig.18 As shown in b, the first limiting block 1115 and the second limiting block 1116 fit together to form a limit.

[0089] like Figure 17-19 In one embodiment, the first limit block 1115 and the second limit block 1116 are two limit hook structures that are interlocked. The limit hook structure can also be replaced by other structures with similar functions. Figure 3 In one embodiment, the first shrinkage seam 1113 is located in the middle of the circumference of the bendable portion 1112, and there are at least two groups of limiting structures 1114. On the circumference of the bendable portion 1112, limiting structures 1114 are respectively provided on both sides of the bendable portion 1112, which can further ensure that the entire bendable portion 1112 can bend and limit synchronously.

[0090] Please refer to Figure 3 as well as Figure 17-19 In one embodiment, in the same limiting unit 1114a, the first limiting block 1115 and the second limiting block 1116 are divided by the side wall of the bendable portion 1112 located on the side of the first contraction seam 1113, and the first limiting block 1115 and the second limiting block 1116 are connected as a whole at one end close to the first contraction seam 1113, and are separated from each other at the other end. When the clamping member 100 is opened outward, the first limiting block 1115 and the second limiting block 1116 can also be opened along with the clamping member 100.

[0091] like Figure 3 as well as Figure 17-19As shown, each group of first shrinkage seams 1113a can be aligned with a limiting unit 1114a in the circumferential direction, thereby ensuring that the limiting effect of the limiting unit 1114a can accurately act on the corresponding first shrinkage seam 1113 to prevent the first shrinkage seam 1113 from continuing to shrink and deform after bending to the maximum angle, thereby preventing the bendable portion 1112 from breaking.

[0092] The number of the limiting units 1114a may be greater than the number of the first contraction seam groups 1113a, so as to completely cover all the first contraction seams 1113 in the longitudinal direction to achieve a better limiting effect. Of course, the number of the limiting units 1114a may also be less than or equal to the number of the first contraction seam groups 1113a.

[0093] For further information, please refer to Figure 17-19 In one embodiment, a second contraction gap 1118 is provided between the first stopper 1115 and the second stopper 1116, at least part of which is arranged along the circumference of the bendable portion 1112. The second contraction gap 1118 can separate the first stopper 1115 and the second stopper 1116, so that the two can move relative to each other. The second contraction gap 1118 is connected to the gap 1117 between the first stopper 1115 and the second stopper 1116.

[0094] Considering that the bending movement of the clamping member 100 in the opening direction and the bending movement in the clamping direction are often accompanied by a torsional movement around the circumference thereof, please refer to Figure 17-19 In one embodiment, the two ends of each group of first contraction seams 1113a extend into the second contraction seams 1118 of two longitudinally adjacent limiting units 1114a, and the overlapping area between the first contraction seams 1113 and the second contraction seams 1118 forms a twisting deformation section 1119, so that the bendable portion 1112 can be bent and twisted. When the twisting deformation section 1119 is provided, the bending deformation of the clamp 100 is smoother, and the bendable portion 1112 is prevented from breaking due to torsion. By adjusting the circumferential length and longitudinal height of the twisting deformation section 1119, the bending softness or support of the bendable portion 1112 can be further changed, which can be flexibly set according to actual needs.

[0095] exist Fig.18 In the illustrated embodiment, the second contraction seam 1118 is arranged in a straight line. Fig.19 In the illustrated embodiment, the second contraction seam 1118 is arranged in a U shape.

[0096] For further information, please refer to Fig. 20 In this embodiment, the insertable clamping instrument is taken as a clamping device (such as a hemostatic clip or a tissue clip) as an example to briefly explain the process of the clamping member 100 being detached from and temporarily remaining in the body of the surgical subject.

[0097] Please refer to Fig. 20 In addition to the clamping member 100 and the moving member 200 , the insertion type clamping device further includes a transmission assembly 300 , a control handle 400 and a separation base 500 .

[0098] The transmission assembly 300 supports the clamping member 100 and transmits motion and force to the moving member 200. Fig. 20 The transmission assembly 300 includes a sleeve assembly 310 and a transmission member (not shown) passing through the sleeve assembly 310, and the transmission member is connected to the moving member 200. The clamping member 100 and the separation base 500 are integrally formed or detachably connected to ensure that the clamping member 100 can be separated from the separation base 500 when needed.

[0099] The separation base 500 is rotatably connected to the sleeve assembly 310, for example Fig. 20 As shown, the separation base 500 is sleeved in the sleeve assembly 310. The connection between the separation base 500 and the clamping member 100 allows the two to rotate in the circumferential direction of the sleeve assembly 310, so that the clamping member 100 can rotate relative to the sleeve assembly 310 as a whole. The sleeve assembly 310 is connected to the control handle 400, and the control handle 400 forms a linkage structure with the transmission member to control the movement of the transmission member, the moving member 200 and the clamping member 100. For example, the operator can control the clamping member 100 to rotate relative to the sleeve assembly 310 through the control handle 400, and can also control the opening and closing of the clamping member 100 through the control handle 400.

[0100] The moving member 200 has a first stroke, a second stroke and a third stroke. In the first stroke, the moving member 200 drives the clamping heads 1111 away from each other to open the clamping heads 1111. In the second stroke, the moving member 200 drives the clamping heads 1111 to approach each other, and the clamping member 100 moves to a clamping state to clamp the target object. In the third stroke, the clamping member 100 maintains the clamping state and is separated from the moving member 200, and the separation base 500 is separated from the clamping member 100. The separation of the clamping member 100 and the moving member 200 can be achieved by, but not limited to, disengaging the connection structure between the clamping member 100 and the moving member 200 or disconnecting a part of the clamping member 100 and the moving member 200 together with another part of the moving member 200. In the third stroke, the separation of the clamping member 100 from the moving member 200 and the separation of the separation base 500 and the clamping member 100 can be achieved simultaneously, or any one action can be achieved before the other action.

[0101] The first stroke, the second stroke and the third stroke are three parts of the entire motion stroke of the moving part 200. The three strokes can be in the same direction, or at least two strokes can be in different directions, or all three strokes can be in different directions. The strokes can be completely separated and have no connection at all, or at least two strokes can be continuous or overlapped. For example, the third stroke can be closely connected to the second stroke, and the third stroke can be entered immediately after the second stroke ends. Of course, the second stroke and the third stroke can also be two separate and non-continuous parts.

[0102] In an internal breakaway structure, see Figure 3-8 as well as Figure 11-16 The moving part 200 is an integrally formed structure, and has a retaining section 220 and a separating section 230. The retaining section 220 and the separating section 230 are connected as a whole through a second tearing portion 240.

[0103] The retaining section 220 is connected to the clamping member 100 via the clamping member connecting structure 600. The locking fitting portion 210 is located on the retaining section 220 or on the clamping member connecting structure 600. Figure 7 , 8 As shown in FIGS. 15 and 16 , when the moving member 200 is in the third stroke, the second tearing portion 240 breaks, and the retaining section 220 and the separating section 230 are separated. The retaining section 220 and the clamping member 100 remain in the surgical object, while the separating section 230 is taken out of the surgical object together with the separating base 500.

[0104] In this embodiment, the retaining section 220 and the separating section 230 are integrally formed, that is, the entire moving part 200 is integrally processed from the same material, rather than being assembled from two or more parts. Even the locking fitting portion 210 can be integrally formed with the retaining section 220 and the separating section 230. The moving part 200 is easy to manufacture, does not require secondary assembly, has lower costs, and has better stability. The width of the second tearing portion 240 can be reserved as needed, and multiple second tearing portions 240 can be provided according to functional requirements to make the structure more reliable and stable.

[0105] To assist the moving part 200 in disengaging internally, please refer to Figure 7 and 15 In one embodiment, the separation base 500 has a stop structure 540, and the stop structure 540 is located on the moving path of the retaining section 220. When the moving member 200 moves along the third stroke, specifically, when the moving member 200 is located in the third stroke, the stop structure 540 prevents the retaining section 220 from continuing to move with the moving member 200 and the separation section 230, so as to help the retaining section 220 and the separation section 230 to separate.

[0106] exist Figure 7 and 15In the illustrated embodiment, the moving member 200 has a slot arranged along its axial direction, and the stop structure 540 protrudes toward the moving member 200 and extends into the slot to abut against the slot wall when the moving member 200 moves along the inner disengagement stroke.

[0107] For further information, please refer to Figure 3 and 4 In one embodiment, the clamping member 100 includes a connecting portion 120. The connecting portion 120, the bendable portion 1112 and the clamping head 1111 are sequentially connected as one body. The separation base 500 is integrally formed with the connecting portion 120.

[0108] Please refer to Figure 7 , 8 , 15 and 16, the connecting portion 120 has a locking structure 121, and the locking structure 121 is used to lock the clamping member 100 in the clamping state. Of course, in other embodiments, the clamping member 100 may not include the connecting portion 120, and the locking structure 121 may be directly set on the bendable portion 1112 or other structures.

[0109] As mentioned above, the locking structure 121 is used to lock the clamping member 100 in the clamping state. The locking structure 121 can at least prevent the clamping member 100 from moving in the opening direction to ensure that the clamping member 100 is always in the clamping state. Of course, the locking structure 121 can also prevent the clamping member 100 from moving toward the control handle 400 at the same time, which is conducive to the clamping member 100 and the moving member 200. In order to achieve the locking effect, the locking structure 121 can be locked with the moving member 200, the clamping member connecting structure 600 and the clamping member 100 itself.

[0110] In one embodiment, the moving part 200 or the clamping part connecting structure 600 has a locking fitting portion 210. When the moving part 200 moves along the third stroke, the locking structure 121 is located on the moving path of the locking fitting portion 210. When the locking fitting portion 210 moves to the locking structure 121, the two form a locking fit to keep the clamping part 100 in a clamping state.

[0111] Please refer to Figure 7 , 8 , 15 and 16, in one embodiment, the clamping member 100 forms a cylindrical structure. One end of the moving member 200 extends into the cylindrical structure and is connected to the clamping member 100. The locking fitting portion 210 includes an elastic body protruding toward the clamping member 100, and the locking structure 121 includes a slot that can cooperate with the elastic body. The elastic body is located in the clamping member 100 and is in an extruded deformation state. The elastic body can be engaged with the slot under the action of elastic force.

[0112] Among them, please refer to Figure 7 , 8, 15 and 16, the third stroke movement direction of the moving member 200 is from the clamping member 100 to the separation base 500, and the elastic body is a spring piece integrally formed on the moving member 200, and the spring piece is inclined toward the distal end of the clamping member 100 along its protruding direction. Figure 7 , 8 As shown in FIGS. 15 and 16 , the inclined spring sheet can move along the inner wall of the clamping member 100 toward the control handle 400 when the moving member 200 moves along the third stroke, thereby preventing the spring sheet from being stuck in other parts of the clamping member 100. Figure 7 , 8 As shown in FIGS. 15 and 16 , when the spring sheet moves to the slot position, the spring sheet can be inserted into the slot under elastic force to prevent the moving member 200 and the clamping member 100 from retracting and opening the clamping state.

[0113] Of course, the spring piece shown in the figure is only an example of the locking fitting portion 210. In other embodiments, other structures that may achieve the locking function may also be used, such as the locking method of the clamping arm 110 or the moving part 200 and the sleeve disclosed in the prior art.

[0114] In order to lock the clamp 100 more stably, in one embodiment, the locking structures 121 and the locking matching parts 210 are both at least two (two in the figure). In order to evenly bear the force, in one embodiment, the locking structures 121 are evenly distributed around the circumference of the clamp 100 (i.e., the intervals between adjacent locking structures 121 are the same angle), and the locking matching parts 210 are opposite to the clamp 100, and can also be evenly distributed around the circumference of the moving part 200.

[0115] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. An insertable clamping device, It is characterized in that include: A clamping member, the clamping member comprising at least two clamping arms, the clamping arms being used to clamp a target object; and a moving part, wherein the moving part is movably arranged, the moving part has a moving part body and at least two connecting rods, the connecting rods and the moving part body are an integrally formed structure, the integrally formed structure is made of metal material, the connecting rods are staggered, one end of the connecting rods is connected to the moving part body together, and the other end is connected to the corresponding clamping arm respectively, and the clamping part opens and closes based on the position change of the moving part; The main body of the moving part is a cylindrical structure, and the end of the connecting rod connected to the cylindrical structure is an oblique section formed by oblique cutting of the cylindrical wall of the cylindrical structure. The connection point where the oblique section is connected to the cylindrical structure is located in the recessed area of ​​the cylindrical structure, so that the deformation area of ​​the connecting rod can extend into the cylindrical structure of the main body of the moving part.

2. The insertion clamping device according to claim 1, It is characterized in that The connection points between the connecting rods and the moving part body are distributed around the central axis of the moving part body.

3. The insertion clamping device according to claim 1, It is characterized in that The connecting rods correspond to and are connected to the clamping arms one by one; the connecting rods are relatively arranged on the cylinder wall of the moving part body.

4. The insertable clamping device according to any one of claims 1 to 3, It is characterized in that It also includes a stroke limiter, the moving part has a limiter portion, the stroke limiter cooperates with the limiter portion, and the stroke limiter is used to limit the movement of the limiter portion and the moving part.

5. The insertion clamping device according to claim 4, It is characterized in that The travel limiting member comprises a limiting shaft, the limiting portion is a limiting groove opened along the axial direction of the moving member, and the limiting shaft is placed in the limiting groove.

6. The insertable clamping device according to any one of claims 1 to 3, It is characterized in that The moving part body comprises a retaining section and a separating section, and the retaining section and the separating section are connected as a whole via a second tearing portion; the retaining section is connected to the connecting rod.

7. The insertion clamping device according to claim 6, It is characterized in that The clamping member has a locking structure, the retaining section has a locking fitting portion, and the locking structure is located on the moving path of the locking fitting portion; when the locking fitting portion moves to the locking structure, the two form a locking fit to keep the clamping member in a clamping state.

8. The insertion clamping device according to claim 7, It is characterized in that The clamping member forms a cylindrical structure, and the connecting rod passes through the cylindrical structure and is connected to the clamping arm; the locking fitting portion includes an elastomer protruding toward the clamping member, and the locking structure includes a slot that can cooperate with the elastomer. The elastomer is located in the clamping member and is in an extruded deformation state. The elastomer can be engaged with the slot under the action of elastic force.

9. An insertable clamping device, It is characterized in that include: A clamping member, the clamping member comprising at least two clamping arms, wherein the clamping arms are provided with a claw-like structure to clamp a target object; A moving part, the moving part is movably arranged, and the moving part has a limiting portion; A clamping member connection structure, wherein the clamping member connection structure comprises at least two connecting rods, one end of the connecting rod is rotatably connected to one end of the moving member, and the other end is rotatably connected to the corresponding clamping arm, and the clamping member is opened and closed based on the position change of the moving member; and a stroke limiter, the stroke limiter cooperates with the limiter, and the stroke limiter is used to limit the movement of the limiter and the moving part toward the distal end of the moving part; Each of the connecting rods is coaxial with the rotation center of the moving part, the moving part can reciprocate along its axial direction, and the moving part has an open self-locking position on its moving trajectory. When the moving part is located at the open self-locking position, the connecting rod and the clamping arm form a self-locking structure; The self-locking structure is specifically as follows: the rotation center of the connecting rod relative to the moving part passes over the line connecting the rotation centers of each connecting rod and the clamping arm, so that the clamping part opens and forms a self-locking structure.

10. The insertion clamping device according to claim 9, It is characterized in that The connecting rod corresponds to and is connected to the clamping arm one by one; the rotation center line of the connecting rod relative to the moving part passes through the central axis of the moving part.

11. The insertion clamping device according to claim 9, It is characterized in that The travel limiting member comprises a limiting shaft, the limiting portion is a limiting groove opened along the axial direction of the moving member, and the limiting shaft is placed in the limiting groove.

12. The insertable clamping device according to any one of claims 9 to 10, It is characterized in that The moving part body comprises a retaining section and a separating section, and the retaining section and the separating section are connected as a whole via a second tearing portion; the retaining section is connected to the connecting rod.

13. The insertion clamping device according to claim 12, It is characterized in that The clamping member has a locking structure, the retaining section has a locking fitting portion, and the locking structure is located on the moving path of the locking fitting portion; when the locking fitting portion moves to the locking structure, the two form a locking fit to keep the clamping member in a clamping state.

14. The insertion clamping device according to claim 13, It is characterized in that The clamping member forms a cylindrical structure, and the connecting rod passes through the cylindrical structure and is connected to the clamping arm; the locking fitting portion includes an elastomer protruding toward the clamping member, and the locking structure includes a slot that can cooperate with the elastomer. The elastomer is located in the clamping member and is in an extruded deformation state. The elastomer can be engaged with the slot under the action of elastic force.

15. A moving part of an insert-type clamping device, It is characterized in that The moving part comprises a moving part body and at least two connecting rods, wherein the connecting rod and the moving part body are an integrally formed structure, the integrally formed structure is made of metal material, and the connecting rod has a connecting portion for connecting to a clamping part; the moving part body is a cylindrical structure, and one end of the connecting rod connected to the cylindrical structure is an oblique section formed by oblique cutting of the cylindrical wall of the cylindrical structure, and the connection point where the oblique section is connected to the cylindrical structure is located in a recessed area of ​​the cylindrical structure, and the connecting rods are staggered so that the deformation area of ​​the connecting rod can extend into the cylindrical structure of the moving part body.

16. The moving part according to claim 15, It is characterized in that The moving part body comprises a retaining section and a separating section, and the retaining section and the separating section are connected as a whole via a second tearing portion; the retaining section is connected to the connecting rod.

17. The moving part according to claim 16, It is characterized in that The retaining section has a locking fitting portion, and the locking fitting portion is used for locking connection with a locking structure on the clamping member.

18. The moving part according to claim 15, It is characterized in that The moving part has a limiting portion, and the limiting portion is used to cooperate with a travel limiting piece on the insertable clamping device to limit the movement of the moving part.

19. The moving part according to any one of claims 15 to 18, It is characterized in that The connecting rods are staggered, and the connection points between the connecting rods and the moving part body are distributed around the central axis of the moving part body; there are two connecting rods, and the two connecting rods are arranged oppositely on the cylinder wall of the moving part body.

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