A magnetic gripper system

Abstract

The present invention provides a magnetic grasping forceps system, characterized in that the magnetic grasping forceps system comprises a magnetic ureteral stent and a magnetic grasping forceps; the magnetic ureteral stent comprises a stent body, a flexible lead arranged on the stent body, and a first magnetic part arranged on the flexible lead, and the first magnetic part is in a free state under the traction of the flexible lead; the magnetic grasping forceps comprises a clamp body extending distally, a transmission mechanism connected to the clamp body, and a clamp head structure connected to the transmission mechanism, and the clamp body drives the left clamp and the right clamp to switch the second magnetic part between a closed state and an open state through the transmission mechanism; the clamp head structure comprises a clamp head seat, a left clamp and a right clamp rotatably connected to the clamp head seat, and a second magnetic suction component connected to the clamp head seat, and after the jaws are switched from a closed state to an open state, the second magnetic part is retracted into the jaws under the action of the rebound force of the elastic part.

Description

Technical Field

[0001] The invention relates to a magnetic suction grasping forceps system. Background Art

[0002] Ureteral stents are widely used in urological surgery, and are suitable for urinary tract surgeries such as kidney stones, ureteral stones, and kidney transplantation, as well as lithotripsy. In addition, the cost of removing the ureteral stent with an endoscope after local anesthesia in the operating room and postoperative anti-inflammatory treatment is high, which increases the economic burden on patients. Currently, in clinical practice, endoscopists mainly remove implanted ureteral stents using removal instruments such as foreign body forceps. Usually, an endoscope is used to observe the position of the ureteral stent, and then a foreign body forceps is used to extend from the lumen of the endoscope to the position of the ureteral stent, thereby removing the ureteral stent from the urinary cavity.

[0003] The magnetic ureteral stent removal device disclosed in authorization announcements CN201810249725, CN201220033517, etc. is implemented by simply using magnetic force to attract and remove the ureteral stent. This type of magnetic solution has insufficient magnetic force, and the removal device and the ureteral stent are easily separated during the removal of the ureteral stent. The ureteral stent needs to be re-absorbed and has to be repeatedly inserted into the urethra, which increases urethral damage, prolongs the operation time, and increases the patient's surgical pain. Ureteral stents have the dual functions of support and drainage, and are mainly used for the auxiliary treatment of urolithiasis to reduce

[0004] It can alleviate various benign and malignant obstructions, promote ureteral recovery and treat urine extravasation. Ureteral stents have become a routine procedure in modern urology surgery and are widely used in hospitals at home and abroad.

[0005] Usually, ureteral stents must be removed within 1-6 months after being implanted in the patient's body, and the patient undergoes cystoendoscopic catheter removal in the outpatient operating room. However, cystoendoscopy is a rigid instrument, and cystoscopic catheter removal will undoubtedly increase the patient's pain and trouble, especially for men. Because the male urethra is long and curved, the rigid cystoscope will cause greater damage and bleeding to the urethra and bladder, increasing the patient's pain and the chance of urinary tract infection. The conventional use of foreign body forceps will still cause the foreign body to fall off due to loose clamping. Long-term treatment and secondary detachment will increase the difficulty and risk of treatment for patients, which not only affects the treatment efficiency, but also causes secondary damage to the patient.

[0006] To this end, many technologies propose to install magnets or magnetic materials on the ureteral stent, and then solve the above problem by installing corresponding magnets on the soft catheter through magnetic attraction. However, this type of magnetic solution has insufficient magnetic force. During the removal of the ureteral stent, the removal device and the ureteral stent are easily separated, and the ureteral stent needs to be re-absorbed. The urethra has to be repeatedly inserted, which increases the damage to the urethra, prolongs the operation time, and increases the patient's surgical pain. Summary of the invention

[0007] The present invention provides a magnetic grasping forceps system, characterized in that the magnetic grasping forceps system comprises a magnetic ureteral stent and a magnetic grasping forceps;

[0008] The magnetic ureteral stent shown comprises a stent body, a flexible lead wire arranged on the stent body, and a first magnetic member arranged on the flexible lead wire, wherein the first magnetic member is in a free state under the traction of the flexible lead wire;

[0009] The magnetic grasping forceps include a forceps body extending distally, a transmission mechanism connected to the forceps body, and a forceps head structure connected to the transmission mechanism, wherein the forceps body drives the left and right forceps to switch the second magnetic member between a closed state and an open state through the transmission mechanism; the forceps head structure includes a forceps head seat, a left and right forceps rotatably connected to the forceps head seat, and a second magnetic attraction component connected to the forceps head seat;

[0010] A jaw is formed between the left jaw and the right jaw, and the jaw has a closed state and an open state. The magnetic attraction assembly includes an elastic member and a second magnetic member. One end of the elastic member is connected to the jaw head seat, and the other end is connected to the second magnetic member. The elastic member is configured to withstand axial tension. When the jaw is in a closed state, it is suitable for clamping the elastic member in a stretched state and stopping the second magnetic member outside. The second magnetic member is suitable for magnetically cooperating with the first magnetic member. After the jaw is switched from a closed state to an open state, the second magnetic member is retracted into the jaw under the action of the rebound force of the elastic member.

[0011] Preferably, the elastic member is a spring, and the spring is configured to pull the second magnetic member and the first magnetic member back into the jaws after being released from the clamping of the jaws.

[0012] Preferably, tooth plates are provided on the front and rear sides of the left clamp and the right clamp; the jaws formed by the tooth plates, the left clamp and the right clamp are suitable for preventing the elastic member from falling out.

[0013] Preferably, a guide wire is provided on one of the left clamp and the right clamp, and the guide wire extends toward the distal end.

[0014] Preferably, the bracket body comprises a straight section and an elastic ring section arranged at least at one end of the straight section, and a flexible lead is connected to the end of the elastic ring section or the straight section.

[0015] Preferably, the first magnetic member comprises a magnetic block and a soft cover for covering the outside of the magnetic block, the flexible lead is connected to the middle position of the first magnetic member, and both ends of the magnetic block constitute magnetic attraction surfaces.

[0016] Preferably, a connecting rod is arranged on the proximal side of the jaws, the connecting rod is connected to the jaw head seat, one end of the spring is connected to the connecting rod, and the central axis of the spring coincides with the central axis of the jaws.

[0017] Preferably, the clamp head seat comprises a seat body and a front cup and a rear cup extending downward from the seat body, a movable cavity open to the left and right is formed between the front cup and the rear cup, and two ends of the connecting rod are respectively connected to the front cup and the rear cup;

[0018] The left clamp and the right clamp are pivotally connected via a first rotating shaft, and two ends of the first rotating shaft are respectively connected to the front cup and the rear cup.

[0019] Preferably, the transmission mechanism includes a second rotating shaft connected to the clamp body, a left connecting rod, a right connecting rod, a third rotating shaft and a second rotating shaft, the left connecting rod and the right connecting rod are rotationally connected via the second rotating shaft; the left clamp and the right clamp are cross-pivotally connected via the first rotating shaft, the left connecting rod is further rotationally connected to the right clamp via the third rotating shaft, the right connecting rod is further rotationally connected to the left clamp via the fourth rotating shaft, and the left connecting rod, the right connecting rod and the left clamp and the right clamp constitute a four-bar linkage.

[0020] Preferably, the pliers body comprises a sliding handle, a sleeve, a spring member, a push-pull rod, a spring tube and a rope.

[0021] The push-pull rod passes through the sleeve, the rope passes through the spring tube, the push-pull rod is connected to the rope to drive the rope to move, and the rope is connected to the left clamp and the right clamp through a transmission mechanism;

[0022] The sliding handle is slidably sleeved on the outside of the sleeve, one end of the spring tube is connected to the sleeve, and the proximal end of the push-pull rod is connected to the sliding handle; the spring member is arranged between the sliding handle and the sleeve,

[0023] The clamp head seat includes a seat body and a front cup and a rear cup extending downward from the seat body, a movable cavity opened to the left and right is formed between the front cup and the rear cup, and the transmission mechanism is arranged in the movable cavity; the two ends of the connecting rod are respectively connected to the front cup and the rear cup; the left clamp and the right clamp are pivotally connected through a first rotating shaft, and the two ends of the first rotating shaft are respectively connected to the front cup and the rear cup. The spring tube is arranged to penetrate the seat body so that the rope is connected to the second rotating shaft, and the rope transmits its axial movement to the clamp head structure through the transmission mechanism to realize the opening and closing of the jaws.

[0024] The present invention provides a magnetic grasping forceps system, which utilizes magnetic force to quickly and effectively absorb and grasp a magnetic ureteral stent, and simultaneously utilizes a spring component to automatically cause a second magnetic component and a first magnetic component to fall into the inner side of a jaw, and an operator controls the clamp to clamp and remove the ureteral stent, thereby ensuring stable and effective clamping, facilitating outpatient operations, and eliminating the pain and trouble of endoscopic tube removal for patients, thereby saving the time and cost of anesthesia surgery.

[0025] In addition, the clamp provided by the present invention can improve the success rate of tube removal without endoscopy, is safe and reliable, and can reduce manufacturing costs, is suitable for large-scale promotion, is convenient for doctors to use and reduces patients' surgical costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a ureteral stent provided by the present invention;

[0027] Figure 2 A schematic diagram of the structure of the magnetic grabber provided by the present invention;

[0028] Figure 3 A schematic diagram of the structure of the clamp head provided by the present invention;

[0029] Figure 4 and Figure 5 They are respectively the initial state and the working state of the magnetic grabber provided by the present invention;

[0030] Figure 6 and Figure 7 A schematic diagram of the partial structure of the magnetic gripper provided by the present invention;

[0031] Figure 8 A schematic diagram of the structure of another ureteral stent provided by the present invention;

[0032] Fig. 9 A schematic diagram of the structure of another magnetic grabber provided by the present invention;

[0033] Fig.10 A schematic diagram of another clamp head structure provided by the present invention;

[0034] Fig.11A schematic diagram of another transmission mechanism provided by the present invention;

[0035] Fig.12 and Fig.13 This is a schematic structural diagram of two spring components of the sleeve provided by the present invention. DETAILED DESCRIPTION

[0036] This embodiment provides a magnetic grasping forceps system, which includes a magnetic ureteral stent and a magnetic grasping forceps.

[0037] Magnetic ureteral stent:

[0038] like Figure 1 As shown, the magnetic ureteral stent shown includes a stent body, a flexible lead arranged on the stent body, and a first magnetic member 150 arranged on the flexible lead, and the first magnetic member 150 is in a free state under the traction of the flexible lead; in some preferred embodiments, the ureteral stent includes a stent body, a flexible lead 140 arranged on the stent body, and a first magnetic member 150 arranged on the flexible lead 140, and the first magnetic member 150 is in a free state under the traction of the flexible lead 140; in this way, the magnetic member in a free state can be quickly and actively attracted and clamped by the catheter removal device, thereby reducing the operation time and alleviating the patient's surgical pain.

[0039] In some preferred embodiments, Figure 2 As shown, the first magnetic member 150 includes a magnetic block and a soft sleeve 160 for covering the outside of the magnetic block, so as to avoid direct contact and friction between the metal magnetic member and the inner wall of the patient's ureter and cause damage. Specifically, the magnetic block has a magnetic surface so that it can quickly attract and combine with the magnetic member of the catheter removal device. In this embodiment, the magnetic block is a cylinder, and the cylinder has a circumferential wall and a top surface and a bottom surface. The circumferential wall is wrapped with a thin film soft sleeve, and one or both of the top surface and the bottom surface constitute a magnetic surface.

[0040] In this embodiment, the flexible lead 140 is connected to the middle position of the first magnetic member 150, and both ends of the magnetic block constitute magnetic attraction surfaces.

[0041] In this embodiment, the bracket body includes a straight section 120 and two elastic ring sections 110 respectively disposed at two ends of the straight section, wherein one of the elastic ring sections 110 is connected to a flexible lead 140 .

[0042] Specifically, the elastic ring segment 110 is wound around at least one circle, and both the straight segment 120 and the elastic ring segment 110 are provided with drainage holes 130 .

[0043] During the operation, the magnetic suction tube removal device is passed through the human urethra into the bladder, and the magnetic part of the tube removal device attracts the first magnetic part 150 of the magnetic ureter provided in this embodiment. Then, the magnetic suction tube removal device cooperates with the first magnetic part 150 of the magnetic ureteral stent to pull out the stent.

[0044] The existing magnetic parts are restricted in their freedom by the restraint of the stent body, and their cooperation with the magnetic parts can only be achieved at a specific angle and distance; the ureteral stent provided by the present invention adopts a flexible lead to realize the free movement of the first magnetic part 150. When the magnetic part of the magnetic suction and catheter removal device approaches the ureteral stent, the setting of the flexible lead provides a basis for the free movement of the first magnetic part 150, so that the magnetic part of the ureteral stent provided in this embodiment can actively attract the first magnetic part 150 of the magnetic suction and catheter removal device, thereby reducing the operation time and alleviating the surgical pain of the patient.

[0045] In other embodiments, the bracket body includes a straight section 120 and an elastic ring section 110 arranged at one end of the straight section, the straight section is connected to a flexible lead 140, and the flexible lead 140 is provided with a first magnetic component 150; drainage holes 130 are provided on the straight section 120 and the elastic ring section 110.

[0046] In some preferred embodiments, Figure 8 As shown, the magnetic block provided in this embodiment is provided with a protrusion 512, and the protrusion 512 can be positioned and matched with the ureteral stent body, and the protrusion and the magnetic block are provided with a through hole 511 to facilitate the insertion of the guide wire. One end of the magnetic block is provided with a protrusion 512, and the protrusion 512 can be embedded in the drainage channel of the stent; when implanted, the magnetic block and the stent are embedded together and implanted through the guidance of the guide wire. When the guide wire is pulled out, the magnetic block follows the movement of the guide wire and disengages from the stent.

[0047] Specifically, after the protrusion is embedded in the stent, a gap exists so that after the guide wire is withdrawn, the protrusion is separated from the stent.

[0048] Magnetic gripper:

[0049] like Figure 2 As shown, the magnetic grasping forceps provided in this embodiment include a forceps body extending distally, a transmission mechanism connected to the forceps body, and a forceps head structure connected to the transmission mechanism, and the forceps body drives the left and right jaws to switch the second magnetic member between the closed state and the open state through the transmission mechanism;

[0050] like Figure 3 As shown, the clamp head structure includes a clamp head seat 7, a left clamp 100 and a right clamp 101 rotatably connected to the clamp head seat 7, and a magnetic suction component connected to the clamp head seat 7; a jaw 102 is formed between the left clamp and the right clamp, as shown in FIG. Figure 2 and Figure 3As shown, the jaws 102 have a closed state and an open state;

[0051] The magnetic attraction assembly includes an elastic member 9 and a second magnetic member 10. The second magnetic member 10 can be magnetically matched with the first magnetic member 150. In this way, through the attraction and cooperation between the second magnetic member 10 and the first magnetic member 150, the clamp head structure can pull the ureteral stent. One end of the elastic member 9 is connected to the clamp head seat 7, and the other end is connected to the second magnetic member 10. The elastic member 9 is configured to be able to withstand axial tension so as to be able to switch from a relaxed state to a stretched state. When in a closed state, the jaws 102 are suitable for clamping the elastic member 9 in a stretched state and stopping the second magnetic member 10 outside.

[0052] like Figure 4 As shown, before the second magnetic member 10 enters the body and forms magnetic attraction with the ureteral stent, the doctor stretches the spring axially to stop the second magnetic member 10 outside the jaws, and the distal end surface of the second magnetic member constitutes a magnetic attraction surface, and its magnetic attraction contact surface is maximized. Since the second magnetic member 10 is positioned outside the jaws, the jaws body drives the jaws head to move; at this time, the first magnetic member 150 is in a free state with the assistance of the flexible lead, so Figure 5 As shown, the free first magnetic member 150 can maximize the active magnetic attraction function, is not restricted by the traction of the ureteral stent, and achieves rapid and stable cooperation with the second magnetic member 10; Figure 4 and Figure 5 As shown, after the jaws 102 are switched from the closed state to the open state, the elastic member 9 rebounds from the stretched state to the relaxed state, at which time it provides a rebound force to the second magnetic member 10 and finally retreats to the inside of the jaws 102, thereby driving the first magnetic member 150 connected to the second magnetic member 10 to also retreat to the inside of the jaws. In some preferred embodiments, the ureteral stent body can also be retreated to the inside of the jaws; driving the first magnetic member 150 of the ureteral stent to retreat into the jaws; and finally clamping the ureteral stent out of the body by the clamping force of the clamp. The realization of this process first uses the first magnetic member 150 and the second magnetic member 10 to realize the rapid positioning of the ureteral stent, and there is no need to manually clamp the ureteral stent to the jaws. The elastic force of the elastic member automatically pulls the ureteral stent to the inside of the jaws, and the whole process is automatically realized. Secondly, the clamping process utilizes the dual effects of magnetic attraction and clamping force to clamp out the ureteral stent, ensuring stable and effective clamping, facilitating outpatient operations, and eliminating the pain and trouble of endoscopic tube removal for patients, as well as the time and cost of anesthesia surgery.

[0053] In summary, the magnetic grasping forceps provided in this embodiment abandon the direct use of magnetic suction to suck the ureteral stent out of the body, avoiding the technical problem of the ureteral stent easily falling off. Through the joint design of the second magnetic part and the spring, the opening and closing actions of the clamp are used to synchronously realize the functions of magnetic positioning and automatic return of the jaws. While using magnetic suction to quickly locate the ureteral joint, the second magnetic part directly guides the ureteral stent to the inside of the jaws; during the whole process, the operator does not need to locate the ureteral stent, and does not need to adjust the operation to clamp the stent, realizing the automation of the clamp, and the clamp head provided by the present invention has a simple structure and low cost.

[0054] In this embodiment, the elastic member 9 is a spring, and the spring is configured to pull the second magnetic member back into the jaws after being released from the clamping of the jaws 102 .

[0055] The front and rear sides of the left and right clamps are provided with tooth plates 8. On the one hand, the teeth facilitate clamping of objects, and on the other hand, they can act as a stopper for the spring in the front and rear directions. The jaws formed by the tooth plates and the left and right clamps ensure the positioning of the spring member in the jaws to prevent it from slipping out and causing the second magnetic member to be unable to automatically rebound and fall into the jaws. In order to avoid the need for the clamps to still be inserted into the body through the endoscope channel, a guide wire 11 is provided on one of the left and right clamps provided by the present invention. The guide wire 11 extends toward the distal end. The function of the flexible guide wire 11 is to guide it into the urethra to the bladder and to prevent the clamp head from injuring the bladder wall. It can be understood that if Fig.10 As shown, the front and rear sides of the left clamp and the right clamp can also be configured as flat plates.

[0056] In order to ensure that the spring can be stably positioned inside the jaws, this embodiment adopts the following implementation method: a connecting rod 103 is arranged on the proximal side of the jaws 102, and the connecting rod 103 is connected to the clamp head seat 7. One end of the spring 9 is connected to the connecting rod 103, and the central axis of the spring 9 coincides with the central axis of the jaws. In this way, when the second magnetic member pulls the ureteral stent into the inside of the jaws, the ureteral stent is also located in the middle position of the jaws, so that the clamping effect is better and the technical problem of unstable clamping caused by clamping bias is avoided.

[0057] In this embodiment, if Figure 6 and Figure 7 As shown, the clamp head seat 7 includes a seat body 71 and a front cup 72 and a rear cup 73 extending downward from the seat body. The front and rear sides are compared with the left clamp and the right clamp. The front cup and the rear cup form a movable cavity 700 open to the left and right to provide a movement space for the transmission mechanism. The two ends of the connecting rod 103 are respectively connected to the front cup 72 and the rear cup 73;

[0058] The left clamp 100 and the right clamp 101 are pivotally connected via a first rotating shaft 105 , and two ends of the first rotating shaft 105 are respectively connected to the front cup and the rear cup.

[0059] Optionally, the second magnetic component is a strong magnetic metal component.

[0060] In this embodiment, the transmission mechanism includes a second rotating shaft 200 connected to the pliers body, a left connecting rod 201, a right connecting rod 202, a third rotating shaft (not shown in the figure) and a fourth rotating shaft 205. The left connecting rod 201 and the right connecting rod 202 are rotationally connected via the second rotating shaft 200; the left jaw 100 and the right jaw 101 are cross-pivotally connected via the first rotating shaft 105, the left connecting rod 201 is further rotationally connected to the right jaw 101 via the third rotating shaft, and the right connecting rod 202 is further rotationally connected to the left jaw 101 via the fourth rotating shaft 205. The left connecting rod 201, the right connecting rod 202 and the left jaw 100, the right jaw 101 constitute a four-bar linkage, which can convert the axial displacement of the pliers body into the opening and closing of the jaws.

[0061] In other embodiments, Fig.11 As shown, the left connecting rod 201 and the right connecting rod 202 can be in the form of wire connecting rods.

[0062] The pliers body comprises a sliding handle 1, a sleeve 2, a spring member 3, a push-pull rod 4, a spring tube 5 and a rope 6.

[0063] The push-pull rod 4 movably penetrates the sleeve, the rope 6 penetrates the spring tube 5, the push-pull rod 4 is connected to the rope 6 to drive the rope 6 to move, and the rope 6 is connected to the left clamp 100 and the right clamp 101 through a transmission mechanism;

[0064] The sliding handle 1 is slidably mounted on the outer side of the sleeve 2 so as to be able to slide axially relative to the sleeve 2. One end of the spring tube 5 is connected to the sleeve 2, and the other end is arranged through the clamp head seat 7. The proximal end of the push-pull rod 4 is connected to the sliding handle 1. In this way, the sliding handle drives the rope to move axially through the push-pull rod. Figure 7 As shown, the sleeve 2 is provided with scale lines, and the doctor can judge whether the left clamp 100 and the right clamp 101 clamp the ureteral stent magnetic part by observing the changes in the scale of the sliding handle 1; when the left clamp 100 and the right clamp 101 clamp the ureteral stent magnetic part, the scale value of the sliding handle 1 is less than the initial scale value of the sliding handle.

[0065] The spring member 3 is arranged between the sliding handle 1 and the sleeve 2 to provide the sliding handle 1 with a reset force; Fig.12As shown, in some embodiments, the spring 3 is a compression spring, which is installed between the sliding handle 1 and the sleeve 2 after being compressed. After the spring 3 is installed, the elastic force generated by the reset pushes the sliding handle 1 downward, and the clamp 9 is tightened inward, and the clamp 9 is closed; Fig.13 As shown, in other embodiments, the spring 3 is a tension spring, which is stretched and inserted into the groove between the sliding handle 1 and the sleeve 2. The tension generated by the spring 3 after reset pulls the sliding handle downward, tightens the clamp inward, and closes the clamp.

[0066] The clamp head seat 7 includes a seat body 71 and a front cup 72 and a rear cup 73 extending downward from the seat body, and a movable cavity open to the left and right is formed between the front cup 72 and the rear cup 73, and the transmission mechanism is arranged in the movable cavity; the two ends of the connecting rod 103 are respectively connected to the front cup 72 and the rear cup 73;

[0067] The left clamp 100 and the right clamp 101 are pivotally connected via a first rotating shaft 105 , and two ends of the first rotating shaft 105 are respectively connected to the front cup 72 and the rear cup 73 .

[0068] The spring tube 5 is arranged through the seat body 71, and the rope 6 is connected to the second rotating shaft, so that the rope transmits its axial movement to the clamp head structure through the transmission mechanism to realize the opening and closing of the jaws. By pushing and pulling the sliding handle 1 to pull the steel wire 6 in the spring tube 5 to move, the jaws on the clamp head seat 7 can be closed or opened; the function of the flexible guide wire 11 is to guide it into the urethra to the bladder and prevent the clamp head from damaging the bladder wall. Specifically, the rope is a steel wire rope.

[0069] Optionally, the spring tube, the clamp and the clamp head seat are all treated with a hydrophilic coating, and the outer surfaces of the rotating head parts such as the clamp and the clamp head seat are smooth without sharp edges, thereby ensuring that the damage to the urethra caused by entering the urethra is reduced.

[0070] The magnetic grasping forceps provided by the present invention firstly utilize magnetic attraction to conveniently, quickly and effectively absorb and grasp the magnetic ureteral stent, while the clamping force of the clamp doubly guarantees the clamping and removal of the magnetic ureteral stent, ensuring stable and effective clamping, facilitating outpatient operation, and eliminating the pain and trouble of endoscopic tube removal for patients, thereby saving the time and cost of anesthesia surgery.

[0071] In addition, the clamp provided by the present invention can improve the success rate of tube removal without endoscopy, is safe and reliable, and can reduce manufacturing costs, is suitable for large-scale promotion, is convenient for doctors to use and reduces patients' surgical costs.

[0072] For example, Figure 4 and Figure 5 As shown, the magnetic gripper provided in this embodiment has an initial state and a picking state:

[0073] Initial state: the jaws 102 are in a closed state, and the elastic member 9 is wrapped between the jaws of the left and right jaws. The strong magnetic metal member 10 is pressed against the outer sides of the jaws of the left and right jaws to ensure that the strong magnetic metal member can be more conveniently attracted to the object to be picked up; at this time, the spring member 3 presses the sliding handle tightly to ensure the closure of the jaws.

[0074] Object removal status: After the strong magnetic metal part attracts the magnetic part of the magnetic ureteral stent, the sliding handle 1 is pushed upward and the jaws open. The elastic part 9 instantly rebounds and resets to pull the magnetic part of the magnetic ureteral stent into the jaws. Finally, the sliding handle 1 is pulled downward to tighten the jaws, and the jaws clamp the objects inside and pull them out of the body.

Claims

1. A magnetic gripper system, characterized in that: The magnetic grasping forceps system comprises a magnetic ureteral stent and a magnetic grasping forceps; The magnetic ureteral stent comprises a stent body, a flexible lead wire arranged on the stent body, and a first magnetic member arranged on the flexible lead wire, wherein the first magnetic member is in a free state under the traction of the flexible lead wire; The magnetic grasping forceps include a forceps body extending distally, a transmission mechanism connected to the forceps body, and a forceps head structure connected to the transmission mechanism, wherein the forceps body drives the left and right forceps to switch the second magnetic member between a closed state and an open state through the transmission mechanism; the forceps head structure includes a forceps head seat, a left and right forceps rotatably connected to the forceps head seat, and a second magnetic attraction component connected to the forceps head seat; A jaw is formed between the left jaw and the right jaw, and the jaw has a closed state and an open state. The magnetic attraction assembly includes an elastic member and a second magnetic member, one end of the elastic member is connected to the jaw head seat, and the other end is connected to the second magnetic member. The elastic member is configured to withstand axial tension, and is suitable for clamping the elastic member in a stretched state and stopping the second magnetic member outside when the jaw is in a closed state. The second magnetic member is suitable for magnetically cooperating with the first magnetic member. After the jaw is switched from a closed state to an open state, the second magnetic member is caused to retreat into the jaw under the action of the rebound force of the elastic member. The elastic member is a spring, and the spring is configured to pull the second magnetic member and the first magnetic member back into the jaw after being released from the clamping of the jaw.

2. The system according to claim 1, characterized in that Tooth plates are provided on both the front and rear sides of the left clamp and the right clamp; the jaws formed by the tooth plates, the left clamp and the right clamp are suitable for preventing the elastic member from falling out.

3. The system according to claim 1, characterized in that A guide wire is arranged on one of the left clamp and the right clamp, and the guide wire extends toward the distal end.

4. The system according to claim 1, characterized in that The support body comprises a straight section and an elastic ring section at least arranged at one end of the straight section, and a flexible lead is connected to the end of the elastic ring section or the straight section.

5. The system according to claim 1, characterized in that The first magnetic component includes a magnetic block and a soft cover for covering the outside of the magnetic block. The flexible lead is connected to the middle position of the first magnetic component. Both ends of the magnetic block constitute magnetic attraction surfaces.

6. The system according to claim 1, characterized in that A connecting rod is arranged on the proximal side of the jaws, the connecting rod is connected to the jaw head seat, one end of the spring is connected to the connecting rod, and the central axis of the spring coincides with the central axis of the jaws.

7. The system according to claim 6, characterized in that The clamp head seat includes a seat body and a front cup and a rear cup extending downward from the seat body, and a movable cavity open to the left and right is formed between the front cup and the rear cup. The two ends of the connecting rod are respectively connected to the front cup and the rear cup; the left clamp and the right clamp are pivotally connected by a first rotating shaft, and the two ends of the first rotating shaft are respectively connected to the front cup and the rear cup.

8. The system according to claim 7, characterized in that The transmission mechanism includes a second rotating shaft connected to the clamp body, a left connecting rod, a right connecting rod, a third rotating shaft and a second rotating shaft. The left connecting rod and the right connecting rod are rotationally connected via the second rotating shaft; the left clamp and the right clamp are cross-pivotally connected via the first rotating shaft, the left connecting rod is further rotationally connected to the right clamp via the third rotating shaft, and the right connecting rod is further rotationally connected to the left clamp via the fourth rotating shaft. The left connecting rod, the right connecting rod and the left clamp and the right clamp constitute a four-bar linkage.

9. The system according to claim 8, characterized in that The pliers body comprises a sliding handle, a sleeve, a spring member, a push-pull rod, a spring tube and a rope. The push-pull rod passes through the sleeve, the rope passes through the spring tube, the push-pull rod is connected to the rope to drive the rope to move, and the rope is connected to the left clamp and the right clamp through a transmission mechanism; The sliding handle is slidably sleeved on the outside of the sleeve, one end of the spring tube is connected to the sleeve, and the proximal end of the push-pull rod is connected to the sliding handle; the spring member is arranged between the sliding handle and the sleeve; The pliers head seat includes a seat body and a front cup and a rear cup extending downward from the seat body, wherein a movable cavity open to the left and right is formed between the front cup and the rear cup, and the transmission mechanism is arranged in the movable cavity; the two ends of the connecting rod are respectively connected to the front cup and the rear cup; the left clamp and the right clamp are pivotally connected by a first rotating shaft, and the two ends of the first rotating shaft are respectively connected to the front cup and the rear cup; the spring tube is arranged to pass through the seat body so that the rope is connected to the second rotating shaft, and the rope transmits its axial movement to the pliers head structure through the transmission mechanism to realize the opening and closing of the jaws.

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