Continuous firing tongs

Abstract

A kind of continuous firing clamp includes: main body part;Connecting pipe, the rear end of connecting pipe is connected to main body part;Jaw part, is configured to continuously fire and clamp multiple clips;Flexible joint, is connected between connecting pipe and jaw part;Operating handle, is connected to main body part, and is configured to be rotatable and swingable relative to main body part;And transmission mechanism, is connected between flexible joint and operating handle, so that the rotation and swing of operating handle drive flexible joint swing in two mutually perpendicular planes.By driving operating handle using transmission mechanism, the jaw part located at the front end of flexible joint can be realized to swing in two mutually perpendicular planes.

Description

Technical Field

[0001] At least one embodiment of this disclosure relates to clamping pliers, and more particularly to a continuous-fire clamping pliers capable of continuously firing and clamping multiple clamps. Background Technology

[0002] Clip clamps are commonly used surgical instruments in surgical procedures to clamp ligation clips (Hemolok clips) to stop bleeding from blood vessels. In medical surgeries, especially minimally invasive techniques, when a patient is bleeding, after administering hemostatic drugs, clip clamps are used to clamp the major arteries to prevent further bleeding. However, most existing clip clamps are single-shot clamps, meaning that a new ligation clip must be attached to the clamp head after each clamping operation, leading to lower surgical efficiency.

[0003] The multi-shot clamp includes a push handle, a tube, and clamp heads mounted at the front end of the tube. It also includes a push-pull rod driven by the push handle, a feeding device, and a storage chamber. The storage chamber has a front end movably connected to the clamp head and a rear end opposite the front end. One end of the push-pull rod is connected to the push handle, and the other end is connected to the rear end of the storage chamber and acts on the storage chamber to open or close the clamp head. The feeding device includes a conveyor and a drive mechanism for moving the transmission mechanism. The storage chamber contains multiple clamps for clamping blood vessels. The transmission mechanism extends into the storage chamber to push the clamps into the clamp head. This multi-shot clamp can simultaneously feed and clamp multiple or consecutive hemostatic clamps without removing the clamps from the outside for reinstallation, enabling hemostasis of multiple blood vessels.

[0004] In the above-mentioned continuous clamping forceps, multiple clamps for clamping blood vessels are placed in sequence. During use, if it is necessary to clamp, the operator needs to rotate the clamp by moving the body to clamp the clamp in the characteristic direction. However, there are still some angles that are difficult to reach by rotating the clamp by moving the body, which is inconvenient to operate and the clamp is not flexible to use. Summary of the Invention

[0005] To address the technical problems in the prior art, this disclosure provides a series of clamps that, by driving the operating handle and utilizing a transmission mechanism, allow the clamp head located at the front end of the flexible joint to swing in two mutually perpendicular planes.

[0006] One aspect of this disclosure provides a multi-shot clamp, including: a main body, a connecting tube, a clamp head, a flexible joint, an operating handle, and a transmission mechanism. The rear end of the connecting tube is connected to the main body. The clamp head is configured to fire continuously and clamp multiple clamps. The flexible joint is connected between the connecting tube and the clamp head. The operating handle is connected to the main body and configured to rotate and swing relative to the main body. The transmission mechanism is connected between the flexible joint and the operating handle, such that rotation and swinging of the operating handle drive the flexible joint to swing in two mutually perpendicular planes.

[0007] According to an embodiment of this disclosure, the operating handle includes a rotating mechanism, a main handle, and a first drive wheel. A first end of the rotating mechanism is rotatably coupled to the main body, and rotation of the rotating mechanism relative to the main body drives the flexible joint to swing in a first plane via a transmission mechanism. The main handle is rotatably connected to a second end of the rotating mechanism via a swing pivot. The first drive wheel is mounted on the swing pivot, and the swinging of the main handle relative to the rotating mechanism drives the flexible joint to swing in a second plane perpendicular to the first plane via the transmission mechanism.

[0008] According to an embodiment of this disclosure, the transmission mechanism includes: a second drive wheel, a first swing cable, and a plurality of first guide wheels. The second drive wheel is mounted on the rotating mechanism, the first swing cable passes around the second drive wheel, and a first end and a second end of the first swing cable are respectively connected to two opposite positions in a first radial direction of the flexible joint. The plurality of first guide wheels are mounted on the main body and are adapted to guide the first swing cable into the connecting tube.

[0009] According to an embodiment of this disclosure, the rotating mechanism has a transmission channel from a first end to a second end, and the transmission mechanism further includes: a second guide wheel, a third guide wheel, a second swing cable, and a plurality of fourth guide wheels. The second and third guide wheels are disposed at the ends of the rotating mechanism opposite to the main handle. The second swing cable passes around the first drive wheel, through the transmission channel, and then around the second and third guide wheels respectively. The first and second ends of the second swing cable are respectively connected to two opposite positions of the flexible joint in a second radial direction perpendicular to the first radial direction. The plurality of fourth guide wheels are mounted on the main body and are adapted to guide the second swing cable into the connecting tube.

[0010] According to an embodiment of this disclosure, the rotating mechanism includes a base, a hollow shaft, and an extension. The hollow shaft is mounted on a first side of the base, and a second drive wheel is mounted on the hollow shaft. The extension extends obliquely from a second side of the base opposite to the first side, relative to the axis of the hollow shaft, and a first drive wheel is mounted on the free end of the extension. Two fifth guide wheels are rotatably mounted within the base to guide the first oscillating cable into the hollow shaft.

[0011] According to an embodiment of this disclosure, the rotation axes of the first drive wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, and the fourth guide wheel are perpendicular to the rotation axes of the hollow shaft, the second drive wheel, and the first guide wheel.

[0012] According to embodiments of this disclosure, the repeating clamp further includes a drive mechanism, a connecting portion, and a protective tube. The drive mechanism is mounted within the operating handle, the connecting portion reciprocates linearly under the drive mechanism, and the rear end of the protective tube engages with the front end of the flexible joint. The clamp head includes a protective tube, clamps, a clamping chamber, and a pushing mechanism. The rear end of the protective tube engages with the front end of the connecting tube. The clamps are configured to clamp a first clamp. The clamping chamber is configured to extend from the outside of the front end of the protective tube through a space defined by the clamps to the inside of the protective tube, and a plurality of clamps are movably and sequentially accommodated within a receiving channel defined by the clamping chamber. The pushing mechanism is disposed within the connecting tube and is configured to push the clamps sequentially toward the clamping portion under the drive of the connecting portion.

[0013] According to an embodiment of this disclosure, the connecting portion includes: a generally U-shaped connecting portion, a push-clamp flexible shaft, and a hollow flexible shaft. Two connecting arms of the connecting portion respectively engage with the rear portions of the clamp arms of the pliers to drive the pliers to open or close. The push-clamp flexible shaft extends from the main body through the connecting tube and connects to the pliers head. The push-clamp flexible shaft is configured to drive the pliers head to continuously clamp multiple clamps under the drive of the drive mechanism, and to drive the pliers head to rotate relative to the connecting tube. The hollow flexible shaft is slidably sleeved on the outside of the push-clamp flexible shaft and the inside of the connecting tube. The end of the hollow flexible shaft abuts against the bottom of the connecting portion on the side opposite to the push-clamp mechanism to push the connecting portion forward and open the pliers. Both the push-clamp flexible shaft and the hollow flexible shaft pass through the flexible joint.

[0014] According to an embodiment of this disclosure, the flexible joint includes a start joint, an end joint, and a plurality of intermediate joints. The start joint is coupled to the protective tube, and the swing cable of the transmission mechanism is connected to the start joint at positions in mutually perpendicular first and second radial directions. The end joint is mounted on the front end of the connecting tube. The plurality of intermediate joints are sequentially connected between the start joint and the end joint, enabling the flexible joint to swing in two mutually perpendicular planes, and the swing cable extends from the start joint through the intermediate joints and the end joint into the connecting tube.

[0015] According to an embodiment of this disclosure, the push-clamp mechanism includes: a base, a cantilever, and at least one partition. The base is configured to reciprocate linearly under the drive of the connecting portion, with the rear end of a second clamp located at the rearmost side abutting against the base. The cantilever is detachably mounted on the base and extends forward from the base. At least one partition extends obliquely from the cantilever between two adjacent clamps and is configured to push the front clamp of the two clamps toward the clamping portion.

[0016] According to the continuous-fire clamp disclosed herein, by setting a flexible joint and driving the operating handle to rotate and swing relative to the main body, the flexible joint is driven by a transmission mechanism to swing in two mutually perpendicular planes, thereby realizing the swing of the clamp head relative to the main body in mutually perpendicular planes. Attached Figure Description

[0017] Figure 1 A schematic diagram of the clip is shown in three dimensions;

[0018] Figure 2 A schematic front view of a rapid-fire clamp according to an embodiment of the present disclosure is shown;

[0019] Figure 3 A perspective view of the head of a rapid-fire clamp according to an embodiment of the present disclosure is shown schematically.

[0020] Figure 4 An enlarged view of the grip portion according to an embodiment of the present disclosure is shown schematically;

[0021] Figure 5 A first-view perspective perspective view of the internal structure of the grip portion according to an embodiment of the present disclosure is shown schematically;

[0022] Figure 6 A second perspective view of the internal structure of the grip portion according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 7 A perspective view of a rotating mechanism according to an embodiment of the present disclosure is shown schematically;

[0024] Figure 8 Schematic illustration Figure 5 A partial enlarged view of the rotating mechanism of the grip shown;

[0025] Figure 9 Schematic illustration Figure 6 A partial enlarged view of part A of the internal structure of the grip shown;

[0026] Figure 10 Schematic illustration Figure 5 A partial enlarged view of part B of the internal structure of the grip shown;

[0027] Figure 11 A perspective view of a flexible joint according to an embodiment of the present disclosure is schematically shown;

[0028] Figure 12 A perspective view of the internal structure of the pliers head according to an embodiment of the present disclosure is schematically shown;

[0029] Figure 13 An exploded perspective view of the clamp head and the connecting portion according to an embodiment of the present disclosure is shown schematically;

[0030] Figure 14 A perspective view of a protective tube according to one embodiment of the present disclosure is shown schematically;

[0031] Figure 15 A perspective view of the connection portion according to an embodiment of the present disclosure is shown schematically;

[0032] Figure 16 A perspective view of the base of the push-clamp mechanism according to an embodiment of the present disclosure is shown schematically;

[0033] Figure 17 A perspective view of the cantilever and separator of the push-clamp mechanism according to an embodiment of the present disclosure is shown schematically.

[0034] Figure 18 A perspective view of a half-body according to an embodiment of the present disclosure is schematically shown;

[0035] Figure 19 A perspective view of a clamp arm according to an embodiment of the present disclosure is shown schematically;

[0036] Figure 20 A perspective view of the main handle according to an embodiment of the present disclosure is shown schematically;

[0037] Figure 21 A perspective view of the moving part according to an embodiment of the present disclosure is shown schematically;

[0038] Figure 22 A perspective view of the main body box according to an embodiment of the present disclosure is shown schematically;

[0039] Figure 23 Schematic illustration Figure 5 A partial enlarged view of part C of the internal structure of the grip shown; and

[0040] Figure 24 Schematic illustration Figure 5 A magnified view of part D of the internal structure of the grip shown.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1- Grip section;

[0043] 11-Main body;

[0044] 111-Main body box;

[0045] 1111-First slot; 1112-Second slot; 1113-Support frame; 1114-Guide wheel bracket;

[0046] 1115 - First bearing groove; 1116 - Second bearing groove;

[0047] 112-First elastic element; 113-Second elastic element; 114-Rotating wheel; 115-First guide wheel; 116-Second guide wheel; 117-Third guide wheel; 118-Fourth guide wheel; 119-Sixth guide wheel; 120-Seventh guide wheel;

[0048] 12-Operating handle;

[0049] 121-Main handle;

[0050] 1211-Mounting part; 1212-Receiving chamber; 1213-Moving part; 1214-Second through hole; 1215-Handwheel;

[0051] 122 - First conduit; 123 - Tensioning cable; 124 - Ring cable; 125 - Second conduit;

[0052] 126 - Rotating mechanism;

[0053] 1261 - Base; 1262 - Hollow shaft; 1263 - Extension; 1264 - Third through hole;

[0054] 127 - Swing pivot; 128 - First driving wheel; 129 - Second driving wheel; 1291 - Bearing; 1210 - Roller; 1220 - First swing cable; 1221 - Second swing cable; 1222 - Fifth guide wheel;

[0055] 13-Auxiliary handle; 14-Handle pivot; 15-Connecting rod;

[0056] 2-Joint;

[0057] 21-Connecting part; 211-Connecting arm; 2111-Fourth pivot hole; 2112-Fourth through hole;

[0058] 212 - Bottom; 2121 - Through-shaft hole;

[0059] 22-Push-clamp flexible shaft; 221-First blocking protrusion; 222-Second blocking protrusion;

[0060] 23-Hollow flexible shaft; 231-Third blocking protrusion;

[0061] 3-Pliers head;

[0062] 31 - Second Pivot;

[0063] 32-clamp arm;

[0064] 321-Clamping part;

[0065] 322-First extension arm; 3221-First protrusion; 3222-First pivot hole;

[0066] 323-Second extension arm; 3231-Second protrusion; 3232-Second pivot hole; 3233-Clamping hole;

[0067] 33-Half-body;

[0068] 331 - Flat section; 332 - First through hole; 333 - Vertical wall;

[0069] 334 - Positioning groove; 3341 - Front wall; 3342 - Rear wall;

[0070] 335 - Convex rib; 3351 - Sloping slope;

[0071] 336 - Guide groove;

[0072] 34-Push-clamp mechanism;

[0073] 341-Separator;

[0074] 342 - Base; 3421 - Joint groove; 3422 - Groove;

[0075] 343-Cantilever;

[0076] 35-Second clamp; 351-Clamping arm; 352-Clamping protrusion;

[0077] 36 - First Pivot;

[0078] 37 - Protective tube;

[0079] 371 - Mounting hole; 372 - Third pivot hole; 373 - Circular groove; 374 - Guide groove;

[0080] 4-Connecting pipe;

[0081] 5- Flexible joints;

[0082] 51 - Starting joint; 52 - Ending joint; 53 - Intermediate joint; 54 - Auxiliary cable; 55 - Boss;

[0083] 56 - Hollow cylinder;

[0084] 6-Rotating bearing. Detailed Implementation

[0085] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings. However, this disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art. In the accompanying drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated, and the same reference numerals denote the same elements throughout.

[0086] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0087] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0088] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0089] To facilitate understanding of the technical solutions disclosed herein by those skilled in the art, the following technical terms are explained.

[0090] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0091] It should be noted that in this disclosure, "front" and "back" are relative to the operator using the continuous-fire clamps provided in this disclosure. The end closer to the operator (e.g., a doctor) is "back," and the end farther from the operator is "front." Figure 1 The viewpoint of the continuously firing clamp shown is as follows: the upper end (the grip end) is "rear," and the lower end (the clamp end) is "front." For example, in... Figure 12 In the game, moving from left to right is called "moving backward," and moving from right to left is called "moving forward."

[0092] Figure 1 A schematic diagram of the clip in three dimensions is shown.

[0093] A ligation clip (Hemolok clip) is a non-metallic medical closure clip used for vascular hemostasis during surgery, as a substitute for suture ligation, or for clamping the urinary tract. For example... Figure 1 As shown, the clip (ligation clip) 35 has a general V-shape and includes two clamping arms 351 and two clamping protrusions 352 located at both ends of the clamping arms 351.

[0094] Figure 2 A schematic front view of a rapid-fire clamp according to an embodiment of the present disclosure is shown. Figure 3 A perspective view of the head of a rapid-fire clamp according to an embodiment of the present disclosure is shown schematically. Figure 4 An enlarged view of the grip portion according to an embodiment of the present disclosure is shown schematically.

[0095] One aspect of this disclosure provides a rapid-fire clamp, such as... Figures 2-4As shown, the device includes a grip 1, a connecting tube 4, a clamp head 3, a flexible joint 5, and a transmission mechanism. The grip 1 includes a main body 11 and an operating handle 12. The rear end of the connecting tube 4 is connected to the main body 11. The clamp head 3 is configured to fire and clamp multiple clamps simultaneously. The flexible joint 5 is connected between the connecting tube 4 and the clamp head 3. The operating handle 12 is connected to the main body 11 and is configured to rotate and swing relative to the main body 11. The transmission mechanism is connected between the flexible joint 5 and the operating handle 12, such that the rotation and swinging of the operating handle 12 drives the flexible joint 5 to swing in two mutually perpendicular planes.

[0096] According to the continuously firing clamp disclosed herein, by setting a flexible joint 5 and driving the operating handle 12 to rotate and swing relative to the main body 11, the flexible joint 5 is driven by a transmission mechanism to swing in two mutually perpendicular planes, thereby realizing the swinging of the clamp head 3 relative to the main body in mutually perpendicular planes. During the operation, the clamp head 3 can be deflected relative to the connecting tube 4 by rotating or swinging the operating handle 12, and the first clamp located in the clamp head 3 can be applied while the clamp head 3 is in the deflected state (that is, the first clamp is clamped to the blood vessel or urinary tract). The operation is flexible, convenient to use, and improves surgical efficiency.

[0097] Figure 5 This schematically illustrates a first-view perspective view of the internal structure of the grip portion according to an embodiment of the present disclosure. Figure 6 This schematically illustrates a second perspective view of the internal structure of the grip portion according to an embodiment of the present disclosure. Figure 7 A perspective view of a rotating mechanism according to an embodiment of the present disclosure is shown schematically.

[0098] According to embodiments of this disclosure, such as Figures 5 to 7 As shown, the operating handle 12 includes a rotating mechanism 126, a main handle 121, and a first drive wheel 128. The first end of the rotating mechanism 126 ( Figure 7 The upper end of the rotating mechanism 126 is rotatably coupled to the main body 11. The rotation of the rotating mechanism 126 relative to the main body 11 drives the flexible joint 5 to swing within a first plane via a transmission mechanism (described in detail below). The main handle 121 is rotatably connected to the second end of the rotating mechanism 126 via a swing pivot 127. Figure 7 (The lower end of the middle). For example Figure 5 and Figure 6 As shown, the first drive wheel 128 is mounted on the swing pivot 127, and the swing of the main handle 121 relative to the rotation mechanism 126 drives the flexible joint 5 to swing in a second plane perpendicular to the first plane through the transmission mechanism.

[0099] According to an embodiment of this disclosure, the swing pivot 127 is rotatably mounted on the second end of the rotating mechanism 126 as the main handle 121 swings. Figure 7The lower end of the main handle 121 causes the swing drive pivot 127 to rotate relative to the rotating mechanism 126, thereby driving the first drive wheel 128 to rotate relative to the rotating mechanism 126.

[0100] In one illustrative embodiment, the first plane is as follows: Figure 2 The second plane is parallel to the surface of the cover of the main body shown, while the third plane is parallel to the surface of the cover shown. Figure 2 The surface of the cover of the main body shown is a vertical plane.

[0101] Figure 8 Schematic illustration Figure 5 A partial enlarged view of the rotating mechanism of the grip section shown. Figure 9 Schematic illustration Figure 6 A magnified view of part A of the internal structure of the grip shown. Figure 10 Schematic illustration Figure 5 A magnified view of part B of the internal structure of the grip shown.

[0102] According to embodiments of this disclosure, such as Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, the transmission mechanism includes a second drive wheel 129, a first swing cable 1220, and a plurality of first guide wheels 115. The second drive wheel 129 is mounted on the rotating mechanism 126. The first swing cable 1220 passes around the second drive wheel 129, and its first and second ends are respectively connected to two opposite positions in the first radial direction within the first plane of the flexible joint 5. The plurality of first guide wheels 115 are mounted on the main body 11 and are adapted to guide the first swing cable 1220 into the connecting tube 4. Thus, the rotation of the second drive wheel 129 will cause the axis of the flexible joint 5 to swing within the first plane via the first swing cable 1220 passing through the connecting tube 4.

[0103] According to an embodiment of this disclosure, by rotating the main handle 121, the rotating mechanism 126 drives the second drive wheel 129 to rotate, the first swing cable 1220 moves around the second drive wheel 129, one end of the first swing cable 1220 is tightened and the other end is relaxed, the flexible joint 5 deflects towards the tightened end, thereby causing the flexible joint 5 to deflect in the first plane.

[0104] In one illustrative embodiment, the first swing cable 1220 is wound multiple times around the second drive wheel 129.

[0105] According to an embodiment of this disclosure, the middle part of the first swing cable 1220 is fixed on the second drive wheel 129, so that the first swing cable 1220 follows the rotation of the second drive wheel 129 to tighten one end and loosen the other end, so that the flexible joint bends.

[0106] According to an embodiment of the present disclosure, the main body 11 further includes a plurality of guide wheel brackets 1114, and a plurality of first guide wheels 115 are mounted in the accommodating space of the main body 11 via the guide wheel brackets 1114.

[0107] In one illustrative embodiment, such as Figure 5 and Figure 10 As shown, four first guide wheels 115 are installed inside the main body 11 via guide wheel brackets 1114.

[0108] According to embodiments of this disclosure, such as Figure 7 As shown, the rotating mechanism 126 has a transmission channel from the first end to the second end.

[0109] According to embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the transmission mechanism also includes a second guide wheel 116, a third guide wheel 117, a second swing cable 1221, and multiple fourth guide wheels 118. The second guide wheel 116 and the third guide wheel 117 are located at the end of the rotating mechanism 126 opposite to the main handle 121. The second swing cable 1221 passes around the first drive wheel 128, through the transmission channel, and then around the second guide wheel 116 and the third guide wheel 117 respectively. The first and second ends of the second swing cable 1221 are respectively connected to two positions on the flexible joint 5 located in the second plane and opposite each other in the second radial direction perpendicular to the first radial direction. Thus, the rotation of the first drive wheel 128 will cause the axis of the flexible joint 5 to swing in the second plane via the second swing cable 1221 passing through the connecting tube 4, allowing the flexible joint 5 to swing in two dimensions. Multiple fourth guide wheels 118 are mounted on the main body 11 and are used to guide the second swing cable 1221 into the connecting tube 4.

[0110] According to an embodiment of this disclosure, by swinging the main handle 121, the main handle 121 drives the first drive wheel 128 to rotate, the first drive wheel 128 causes the second swing cable 1221 to move, so that one end of the second swing cable 1221 is tightened and the other end is relaxed, and the flexible joint 5 deflects towards the tightened end, thereby causing the flexible joint 5 to deflect in the second plane.

[0111] According to embodiments of this disclosure, the oscillation of the axes of the flexible joint 5 and the clamp head 3 in a first plane can be referred to as pitch oscillation, and conversely, the oscillation of the axes of the flexible joint 5 and the clamp head 3 in a second plane can be referred to as yaw oscillation. In one embodiment, the oscillation of the axis of the flexible joint 5 in two mutually perpendicular planes can be performed independently, that is, during the same time period, the axis of the flexible joint only undergoes pitch oscillation or only undergoes yaw oscillation. In an alternative embodiment, the oscillation of the axis of the flexible joint 5 in two mutually perpendicular planes can be performed simultaneously, that is, during the same time period, the axis of the flexible joint simultaneously undergoes pitch oscillation and yaw oscillation.

[0112] In one illustrative embodiment, the second swing cable 1221 is wound multiple times around the first drive wheel 128.

[0113] According to an embodiment of this disclosure, the middle part of the second swing cable 1221 is fixed on the first drive wheel 128, so that the second swing cable 1221 follows the rotation of the first drive wheel 128 to tighten one end and loosen the other end, so that the flexible joint bends.

[0114] In one illustrative embodiment, such as Figure 5 As shown, there are 5 fourth guide wheels 118.

[0115] According to embodiments of this disclosure, such as Figure 7 and Figure 9 As shown, the rotating mechanism 126 includes a base 1261, a hollow shaft 1262, and an extension 1263. The hollow shaft 1262 is mounted on the first side of the base 1261. Figure 9 The second drive wheel 129 is mounted on the hollow shaft 1262 (on the upper side of the base 1261). The extension 1263 extends obliquely from the second side of the base 1261 opposite to the first side, relative to the axis of the hollow shaft 1262, to increase the torque of the main handle 121 driving the rotating mechanism 126 and to provide the operator with a better operating feel. The first drive wheel 128 is mounted on the free end of the extension 1263, and the fifth guide wheel 1222 is rotatably mounted in the base 1261 via a pivot 1264 to guide the first swing cable 1220 into the hollow shaft 1262.

[0116] According to the embodiments of the present disclosure, in actual operation, the main body of the pliers can be fixed by the same operator or another operator, and the operator can rotate the main handle relative to the main body or swing the main handle relative to the main body (or the rotating mechanism) to realize the swinging of the pliers head in two mutually perpendicular first and second planes. In this way, the swinging of the pliers head in the two mutually perpendicular first and second planes is achieved by operating the main handle, which simplifies the structure of the grip and facilitates the operation of the main handle.

[0117] According to embodiments of this disclosure, such as Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the main body 11 also includes an upper connecting box and a lower connecting box that are joined together. The portion of the rotating mechanism 126 extending out of the main body 11 is disposed within the cavity formed by the upper and lower connecting boxes. The first drive wheel 128 is mounted in the extension 1263 of the rotating mechanism 126 via a swing pivot 127. The main handle 121 can rotate around the swing pivot 127 to drive the first drive wheel 128 to rotate. The first drive wheel 128 drives the second swing cable 1221 to deflect the flexible joint 5 in the second plane.

[0118] In one illustrative embodiment, the number of fifth guide wheels is two.

[0119] According to embodiments of this disclosure, the swing pivot 127 is a non-circular bearing, such as any of polygonal, D-shaped, elliptical, etc.

[0120] In one illustrative embodiment, such as Figure 7 and Figure 9 As shown, the swing pivot 127 is a D-type axis.

[0121] According to embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the second drive wheel 129 is mounted on the end of the hollow shaft 1262 to rotate with the hollow shaft 1262. Specifically, the continuous-fire clamp also includes two bearings 1291. The second drive wheel 129 is mounted on the hollow shaft 1262 of the rotating mechanism 126 and clamped between the two bearings 1291. The two bearings 1291 are placed in the first bearing groove 1115 in the main body 11 and rotatably support the hollow shaft 1262.

[0122] According to embodiments of this disclosure, such as Figure 5 , Figure 6 and Figure 8 As shown, the transmission mechanism also includes a roller 1210. The roller 1210 is mounted on the hollow shaft 1262 of the rotating mechanism 126 within the main body 11 and is disposed within a second bearing groove 1116 located between the second drive wheel 129 and the vertical wall of the main body 11, thus fixing the second drive wheel 129 axially relative to the hollow shaft 1262. Furthermore, a thrust bearing is disposed within the second bearing groove 1116. The roller 1210 is mounted on the hollow shaft 1262 and contacts the thrust bearing, preventing the second drive wheel 129 from moving axially while reducing the friction between the rotating mechanism 126 and the second bearing groove 1116 during rotation.

[0123] In one illustrative embodiment, the roller 1210 and the hollow shaft 1262 of the rotating mechanism 126 are connected by screw threads. Furthermore, the roller 1210 has a through hole, and the hollow shaft 1216 has a threaded hole opposite to the through hole of the roller. The screw passes through the through hole on the roller 1210 and engages with the threaded hole on the hollow shaft 1262, connecting the roller 1210 and the rotating mechanism 126.

[0124] Figure 11 A perspective view of a flexible joint according to an embodiment of the present disclosure is shown schematically.

[0125] According to embodiments of this disclosure, such as Figure 10 , Figure 3 and Figure 11 As shown, the flexible joint 5 includes a starting joint 51, an ending joint 52, and multiple intermediate joints 53. The starting joint 51 is attached to the clamp head 3. The first swing cable 1220 and the second swing cable 1221 of the transmission mechanism are connected to the starting joint 51 at positions perpendicular to each other in a first radial direction and a second radial direction. The ending joint 52 is mounted on the front end of the connecting tube 4. The multiple intermediate joints 53 are sequentially connected between the starting joint 51 and the ending joint 52, allowing the flexible joint 5 to swing in two mutually perpendicular planes. The first swing cable 1220 and the second swing cable 1221 extend from the starting joint 51 through the intermediate joints 53 and the ending joint 52 and through the connecting tube 4 into the grip portion 1.

[0126] According to embodiments of this disclosure, such as Figure 11 As shown, in order to enable the flexible joint 5 to deflect better, the flexible joint 5 also includes multiple auxiliary cables 54, which are spaced apart between the first swing cable 1220 and the second swing cable 1221. The auxiliary cables 54 pass through the intermediate joint 53 from the starting joint 51 and connect to the ending joint 52.

[0127] According to an embodiment of this disclosure, the auxiliary cable 64 is fixedly connected to the end joint 62, and the auxiliary cable 64 is not fixedly connected to the start joint 61.

[0128] According to embodiments of this disclosure, the flexible joint 5 includes at least four auxiliary cables 54.

[0129] In one illustrative embodiment, the flexible joint 5 includes four auxiliary cables 54.

[0130] In one illustrative embodiment, the flexible joint 5 includes any number of intermediate joints 53, such as 3, 4, or 5.

[0131] According to embodiments of this disclosure, the actions of the rotating mechanism 126 swinging about the swing pivot 127 and the main handle 121 rotating about the hollow axis 1262 can be combined and can move simultaneously, so that the flexible joint 5 can deflect outside the first plane and the second plane.

[0132] Figure 12 A perspective view schematically illustrating the internal structure of the clamp head according to an embodiment of the present disclosure is shown. Figure 13 An exploded perspective view of the clamp head and the connecting portion according to an embodiment of the present disclosure is shown schematically.

[0133] According to embodiments of this disclosure, such as Figure 13 As shown, the connecting tube 4 includes an outer rod and a hollow inner tube. The outer rod is a thin-walled hollow tube with multiple evenly spaced elongated slots at its front end. The rear end of the flexible joint 5's end joint 52 extends rearward with multiple bosses 55, which are inserted into the multiple elongated slots of the outer rod and fit tightly against it. The hollow inner rod is nested inside the outer rod.

[0134] In one illustrative embodiment, the number of long slots may include any one of 2, 4, 6, 8, etc.

[0135] According to an embodiment of this disclosure, the clamp head 3 is connected to the start joint 51 of the flexible joint 5, the end joint 52 of the flexible joint 5 is connected to the outer rod, the rear end of the outer rod is connected to the main body 11, the operating handle 12 is connected to the main body 11, the operating handle 12 can rotate and swing, and the rotation or swing of the operating handle 12 causes the flexible joint 5 to bend in different directions.

[0136] According to embodiments of this disclosure, the rotation axes of the first drive wheel 128, the second guide wheel 116, the third guide wheel 117, the fourth guide wheel 118, and the fifth guide wheel 1222 are perpendicular to the rotation axes of the hollow shaft 1262, the second drive wheel 129, and the first guide wheel 115.

[0137] According to embodiments of this disclosure, such as Figure 12 and Figure 13As shown, the repeating clamp also includes a drive mechanism and a connecting part. The drive mechanism is installed inside the grip part 1, and the connecting part reciprocates linearly under the drive of the drive mechanism. The clamp head 3 includes a protective tube 37, clamps, a clamping compartment, and a pushing mechanism. The rear end of the protective tube 37 is connected to the front end of the connecting tube 4 via a flexible joint 5, and further, the rear end of the protective tube 37 is connected to a starting joint 51. The front end of the clamps is provided with a clamping part 321 for clamping the first clamp. The clamping compartment is configured to extend from the outside of the front end of the protective tube 37 through the space defined by the clamps to the inside of the protective tube 37, and multiple clamps are movably and sequentially accommodated in the receiving channel defined by the clamping compartment. The pushing mechanism is provided inside the protective tube 37 and is configured to push the clamps sequentially toward the clamping part 321 under the drive of the connecting part.

[0138] According to embodiments of this disclosure, the clamping compartment can accommodate 1, 2, 3, 5, 8, or other numbers of second clamps.

[0139] Figure 14 A perspective view of a protective tube according to one embodiment of the present disclosure is shown schematically.

[0140] According to embodiments of this disclosure, such as Figure 14 As shown, a guide groove 374 is formed inside the protective tube 37 to accommodate the movement of the clamping part, so that the clamping part moves along the guide groove 374 at the front end of the protective tube 37.

[0141] According to an embodiment of this disclosure, by providing a guide groove 374 in the protective tube 37, the connecting part 21 moves back and forth within the guide groove 374, thereby making the opening and closing of the pliers symmetrical.

[0142] According to embodiments of this disclosure, such as Figure 12 and Figure 13 As shown, the connecting part 2 includes a generally U-shaped connecting part 21, a push-clamp flexible shaft 22, and a hollow flexible shaft 23. Figure 12 As shown, the two connecting arms 211 of the connecting part 21 are respectively engaged with the rear part of the clamp arm 32 of the pliers to drive the pliers to open or close (further details will follow). Figure 12(Detailed description) The base 342 of the push clamp mechanism 34 is located between the two connecting arms 211. The push clamp flexible shaft 22 extends from the main body through the connecting tube and connects to the clamp head. Furthermore, the push clamp flexible shaft 22 extends through the bottom 212 of the connecting part 21 and connects to the base 342 of the push clamp mechanism 34. The push clamp flexible shaft 22 is configured to drive the clamp head to continuously clamp multiple clamps under the drive of the drive mechanism, drive the push clamp mechanism 34 to reciprocate linearly in the front-back direction, and pull the connecting part 21 backward to close the clamps. A hollow flexible shaft 23 is slidably sleeved on the outside of the push clamp flexible shaft 22 and the inside of the connecting tube 4. The front end of the hollow flexible shaft 23 abuts against the side of the bottom 212 of the connecting part 21 opposite to the push clamp mechanism 34, so as to push the connecting part 21 forward and open the clamps as the hollow flexible shaft 23 moves forward.

[0143] According to an embodiment of this disclosure, the front ends of both the push-clamp flexible shaft 22 and the hollow flexible shaft 23 pass through the flexible joint 5 and are connected to the joint 2, so that the push-clamp flexible shaft 22 and the hollow flexible shaft 23 bend with the flexible joint 5.

[0144] According to embodiments of this disclosure, the material of the push-clamp flexible shaft 22 and / or the hollow flexible shaft 23 can be nickel-titanium alloy or stainless steel.

[0145] In one illustrative embodiment, the push-clamp flexible shaft 22 is a steel wire flexible shaft.

[0146] Figure 15 A perspective view of the connection portion according to an embodiment of the present disclosure is shown schematically.

[0147] According to embodiments of this disclosure, such as Figure 15 As shown, the bottom 212 of the connecting part 21 is provided with a through hole 2121, allowing the push clamp flexible shaft 22 to pass through the connecting part 21 and connect to the base 342. A fourth through hole 2112 is provided on a connecting arm 211 adjacent to the cantilever 343 of the push clamp mechanism 34, which is aligned with the mounting hole 371 of the protective tube 37. Tools such as screwdrivers can pass through the mounting hole 371 and the fourth through hole 2112 to disassemble or fix the cantilever 343 and the base 342 of the push clamp mechanism 34.

[0148] According to an embodiment of the present disclosure, the outer diameter of the hollow flexible shaft 23 is larger than the diameter of the through hole 2121 at the bottom 212 of the connecting portion 21, so that the hollow flexible shaft 23 slides through the through hole 2121 to push the connecting portion 21 forward.

[0149] According to embodiments of this disclosure, such as Figure 12 and Figure 13As shown, the front end of the push clamping flexible shaft 22 is provided with a first blocking protrusion 221 protruding in the circumferential direction. The first blocking protrusion 221 abuts against the base 342 of the push clamping mechanism 34 and the bottom 212 of the connecting part 21, so as to push the push clamping mechanism 34 forward or pull the connecting part 21 backward under the drive of the drive mechanism.

[0150] Figure 16 A perspective view of the base of the push-clamp mechanism according to an embodiment of the present disclosure is shown schematically. Figure 17 A perspective view of the cantilever and separator of the push-clamp mechanism according to an embodiment of the present disclosure is shown schematically.

[0151] According to embodiments of this disclosure, such as Figure 12 , Figure 16 and Figure 17 As shown, the push-clamp mechanism 34 includes a base 342, a cantilever 343, and at least one separator 341. The separator 341 is inserted between two adjacent second clamps 35 and configured to push the front second clamp towards the clamping portion 321. The base 342 is configured to reciprocate linearly under the drive of the connecting portion 2, and the rear end of the rearmost second clamp 35 abuts against the base 342 to move forward under the push of the base 342. Figure 16 and Figure 17 As shown, the cantilever 343 is detachably mounted on the base 342 and extends forward from the base 342, and the partition 341 extends obliquely from the cantilever 343 between two adjacent second clips 35 and abuts against the rear end of the base 342 located at the front.

[0152] Thus, in the continuous clamping forceps according to the embodiments of the present disclosure, two adjacent clamps in the clamping chamber are separated by a partition 341. The two adjacent clamps are in a state separated by the partition 341. During the movement of the clamps, one clamp located in front of the partition 341 is pushed to the clamping part 321, thereby realizing continuous clamping and avoiding the phenomenon of clamping during the movement of two adjacent clamps. The clamp located in front can be pushed out smoothly, improving surgical efficiency and saving surgical time.

[0153] According to embodiments of this disclosure, the cantilever is made of an elastic material that can swing up and down, such as stainless steel.

[0154] According to embodiments of this disclosure, such as Figure 16 As shown, the base 342 has a connecting groove 3421 on one side of the cantilever 343. The cantilever 343 is detachably connected to the connecting groove 3421 by screw threads. The part of the connecting pipe 4 opposite to the screw has a mounting hole 371.

[0155] According to embodiments of this disclosure, the cantilever 343 and base 342 of the push-clamp mechanism 34 can be disassembled or secured using a tool such as a screwdriver through the mounting hole 371 on the protective tube 37. Thus, when disassembling the cantilever 343, a second clamp is pushed into the front of the base; then, the cantilever 343 is connected to the base 342; then, another second clamp is pushed into the front of the separator 341.

[0156] According to embodiments of this disclosure, the mounting hole 371 can be a round hole or an elongated hole.

[0157] According to an embodiment of this disclosure, the hole on the base 342 that connects to the cantilever 343 can be a threaded hole.

[0158] According to embodiments of this disclosure, such as Figure 16 As shown, the inner side of the cantilever 343 is provided with a groove 3422 suitable for partially accommodating the rear part of the second clip 35, and the shape of the groove 3422 matches the shape of the rear part of the second clip.

[0159] According to an embodiment of the present disclosure, by providing a groove 3422, the rear part of a second clip 35 near the front end of the base 342 abuts against the groove 3422. When the pushing mechanism 34 pushes the second clip 35 forward, the second clip 35 located on the rearmost side can move forward smoothly.

[0160] Figure 18 A perspective view of a half-body according to an embodiment of the present disclosure is shown schematically.

[0161] According to embodiments of this disclosure, such as Figure 13 As shown, the clamping section includes two interlocking halves 33. Figure 18 As shown, each half-body 33 includes a generally rectangular flat portion 331 and two vertical walls 333. The flat portion 331 is provided with a first through hole 332, and the two vertical walls 333 extend perpendicularly to the flat portion 331 from both sides along its length. The two vertical walls 333 are provided with at least two pairs of positioning grooves 334 extending in the lateral direction, which are adapted to engage with the clamping protrusions 352 on the clamping arms 351 of the clamp.

[0162] According to embodiments of this disclosure, such as Figure 18 As shown, the front wall 3341 of the positioning groove 334 is inclined to allow the clamping protrusion 352 to disengage from the positioning groove 334 when the second clamp 35 is pushed forward, and the rear wall 3342 of the positioning groove 334 is parallel to the lateral direction to prevent the clamping protrusion 352 from disengaging from the positioning groove 334 when the second clamp 35 is pulled backward.

[0163] According to embodiments of this disclosure, such as Figure 13 and Figure 18 As shown, a protruding rib 335 is provided on the flat portion 331 of one half of half 33 adjacent to the cantilever 343. The rear end of the rib 335 is formed as a ramp 3351. The ramp 3351 cooperates with the separator 341 to guide the separator 341 to move between the two second clamps 35, so that the rib 335 holds the separator 341 between the two second clamps 35 during the forward movement of the push clamping mechanism 34.

[0164] According to the embodiments of this disclosure, by providing a protruding rib 335 on the half body 33, during the process of the pushing clamping mechanism 34 pushing the second clamp forward, the rear end of the second clamp 35 is always in contact with the front end of the separator 341, and will not lose contact with the separator 341 due to the elastic downward movement of the clamping arm 351.

[0165] According to an embodiment of the present disclosure, a first through hole 332 is provided on the protruding rib 335, such that when the first pivot 36 passes through the first through hole 332, an obstacle that would prevent the second clamp 35 from moving forward is avoided in the receiving channel formed by the two halves 33.

[0166] According to embodiments of this disclosure, such as Figure 18 As shown, the flat portion 331 is provided with a guide groove 336 that opens toward the rear. The base 342 of the push clamping mechanism is partially accommodated in the guide groove 336 so as to reciprocate linearly in the front-rear direction within the guide groove 336.

[0167] According to an embodiment of this disclosure, the length of the guide groove 336 is greater than or equal to the distance between two adjacent second clips 35 within the clamping compartment.

[0168] Figure 19 A perspective view of a clamp arm according to an embodiment of the present disclosure is shown schematically.

[0169] According to embodiments of this disclosure, such as Figure 19 As shown, each clamp arm 32 also includes a drive unit for driving the clamping part. The drive unit includes a first extension arm 322 and a second extension arm 323. The first extension arm 322 extends rearward from the rear end of the clamping part 321, and the rear end of the first extension arm 322 has an inwardly protruding first protrusion 3221, on which a first pivot hole 3222 is provided; the second extension arm 323 extends rearward from the rear end of the clamping part 321 parallel to the first extension arm 322, and the length of the second extension arm 323 is greater than the length of the first extension arm 322. The rear end of the second extension arm 323 has an inwardly protruding second protrusion 3231, on which a second pivot hole 3232 aligned with the first pivot hole 3222 is provided, and an elongated clamping hole 3233 located behind the second pivot hole 3232 is provided. Figure 3 and Figure 12As shown, the pliers and clamping part are connected to the front end of the protective tube 37 by means of a first pivot 36 passing through a first pivot hole 3222, a second pivot hole 3232 and a first through hole 332. The second protrusion 3231 is connected to the connecting arm 211 by means of a second pivot 31 passing through a clamping hole 3233. The clamping hole 3233 is set to be inclined relative to the front-back direction, so that when the second pivot 31 moves relative to the clamping hole 3233 under the drive of the connecting part 21, it drives the pliers arm 32 to rotate around the first pivot 36, so that the pliers open or close.

[0170] In one illustrative embodiment, the first pivot 36 is a rigid axis.

[0171] According to embodiments of this disclosure, the rapid-fire clamp includes at least two first pivots 36 and two second pivots 31.

[0172] According to an embodiment of the present disclosure, a third pivot hole 372 is provided at the front end of the protective tube 37. The first pivot 36 connects the clamping part and the two clamp arms 32 to the protective tube 37 through the third pivot hole 372, so that the two clamp arms 32 can rotate around the first pivot 36.

[0173] In one illustrative embodiment, the number of third pivot holes 372 is two.

[0174] According to an embodiment of this disclosure, the first surface of the first extension arm 322 of the first clamp arm 32 contacts the second extension arm 323 of the second clamp arm 32, and the second surface opposite to the first surface contacts the inner wall of the guide groove 374 of the protective tube 37.

[0175] According to embodiments of this disclosure, such as Figure 12 and Figure 15 As shown, the front ends of the two connecting arms 211 of the connecting part 21 are respectively provided with two coaxial fourth pivot holes 2111. Figure 12 As shown, the second pivot 31 passes through the fourth pivot hole 2111 and is inserted into the clamping hole 3233, connecting the two connecting arms 211 of the connecting part 21 to the two clamp arms 32, so that the connecting part 21 can drive the second pivot 31 to move within the clamping hole 3233 to drive the pliers to rotate around the first pivot 36, thereby realizing the opening and closing of the pliers.

[0176] According to an embodiment of the present disclosure, the drive mechanism is configured to drive the coupling 2 to pull the pliers closed during the gripping of the grip portion 1.

[0177] Figure 20 A perspective view of a main handle according to an embodiment of the present disclosure is shown schematically.

[0178] According to embodiments of this disclosure, such as Figure 5 , Figure 6 as well as Figure 20As shown, a receiving space is formed within the main body 11, and the drive mechanism is movably mounted within the main handle 121. A mounting portion 1211 is mounted on the main body 11, and a handle pivot 14 is provided on the mounting portion 1211. An auxiliary handle 13 is pivotally mounted on the main handle 121 via the handle pivot 14, and the movement of the auxiliary handle 13 relative to the main handle 121 drives the drive mechanism to reciprocate linearly, thereby causing the push-clamp flexible shaft 22 and the hollow flexible shaft 23 to move axially.

[0179] According to embodiments of this disclosure, such as Figure 5 , Figure 6 as well as Figure 20 As shown, the main handle 121 has a receiving chamber 1212. The drive mechanism includes a moving part 1213 and a connecting rod 15. The moving part 1213 is movably mounted in the receiving chamber 1212 of the main handle. The two ends of the connecting rod 15 are pivotally connected to the moving part 1213 and the portion of the auxiliary handle 13 away from the handle pivot 14, respectively, such that the movement of the auxiliary handle 13 relative to the operating handle 12 drives the moving part 1213 to reciprocate linearly within the receiving chamber 1212 via the connecting rod 15. Figure 5 , Figure 6 as well as Figure 20 The image shows the main body of the handle, which can be understood as... Figure 5 , Figure 6 as well as Figure 20 The main body shown also has a cover attached by screws.

[0180] Figure 21 A perspective view of the movable part according to an embodiment of the present disclosure is shown schematically.

[0181] According to embodiments of this disclosure, such as Figure 21 As shown, a fixing groove is provided at one end of the moving part 1213, and a second through hole 1214 is provided on the groove wall. The rotating shaft passes through the second through hole 1214 and the through hole on the connecting rod 15, so that the moving part 1213 in the main handle 121 is connected to the connecting rod 15. Both ends of the connecting rod 15 have through holes. One end is pivotally connected to the moving part 1213 in the main handle 121, and the other end is pivotally connected to the auxiliary handle 13. One end of the tension cable 123 (described in detail below) passes through the through hole 1215 provided on the moving part 1213 and is connected to the moving part 1213.

[0182] In one illustrative embodiment, such as Figure 5 and Figure 6As shown, the auxiliary handle 13 has a first circular hole at one end connected to the main handle 121. A handle pivot 14 is mounted on the mounting portion 1211 of the main handle 121. The first circular hole is inserted into the handle pivot 14 of the main handle 121, allowing the auxiliary handle 13 to rotate around the handle pivot 14. In an alternative embodiment, the handle pivot 14 is mounted on the main handle 121.

[0183] In one illustrative embodiment, such as Figure 5 and Figure 6 As shown, the auxiliary handle 13 is also provided with a second circular hole for connection with the connecting rod 15, allowing the moving part 1213 to move within the receiving chamber 1212 within the main handle 121. When the auxiliary handle 13 is close to the main handle 121, the auxiliary handle 13 pushes the moving part 1213 to move away from the auxiliary handle 13, causing the moving part 1213 to tighten the tension cable 123, which in turn compresses the first elastic element 112 and the second elastic element 113, resulting in the pliers closing.

[0184] In one embodiment, the handwheel 1215 is rotatably mounted on the mounting portion 1211 via a hollow pivot. The tension cable 123 passes through the hollow pivot from the outside of the mounting portion and connects to the movable portion 1213 mounted on the main handle 121. This allows the auxiliary handle mechanism to be compact and facilitates axial reciprocating movement of the push clamp shaft by gripping the auxiliary handle 13 while holding both the main handle 121 and the auxiliary handle 13. Alternatively, the thumb can be used to rotate the handwheel 1215 to drive the annular cable 124 to move, causing the push clamp shaft to reciprocate.

[0185] Figure 22 A perspective view of the main body box according to an embodiment of the present disclosure is shown schematically.

[0186] According to embodiments of this disclosure, such as Figure 5 , Figure 6 and Figure 22 As shown, the continuous-fire clamp also includes an elastic mechanism installed in the grip portion 1. The elastic mechanism is configured to drive the connecting portion 2 to push the clamp open to release the first clamp during the release of the grip portion 1, and to drive the connecting portion 2 to push the second clamp 35 into the clamping portion 321 of the clamp.

[0187] According to embodiments of this disclosure, such as Figure 5 and, Figure 6 and Figure 22As shown, the elastic mechanism includes a first elastic element 112 and a second elastic element 113. When the grip portion is tightened, causing the auxiliary handle 13 to approach the main handle 121, the first elastic element 112 and the second elastic element 113 elastically contract due to the pull of the tension cable 123. When the grip portion is released (the force of tightening the grip portion disappears), the first elastic element 112 is configured such that the push-clamp flexible shaft 22 uses the elastic force of the first elastic element 112 to push the connecting portion 21 forward. The second elastic element 113 is configured such that the hollow flexible shaft 23 uses the elastic force of the second elastic element 113 to push the connecting portion 21 forward.

[0188] According to embodiments of this disclosure, the first elastic element 112 and / or the second elastic element 113 are springs sleeved on the push-clamp shaft 22.

[0189] According to embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the rear ends of both the hollow flexible shaft 23 and the push-clamp flexible shaft 22 extend through the connecting tube 4 into the receiving space of the main body 11, and the push-clamp flexible shaft 22 extends from the second end of the hollow flexible shaft 23. That is, the length of the push-clamp flexible shaft 22 is greater than the length of the hollow flexible shaft 23. Figure 5 , Figure 6 and Figure 22 As shown, the bottom 212 of the accommodating space is provided with a first slot 1111 and a second slot 1112. The first elastic member 112 is at least partially accommodated in the first slot 1111, and the first end of the first elastic member 112 abuts against the second blocking protrusion 222 formed on the push-clamp flexible shaft 22. The second end of the first elastic member 112 abuts against the end of the first slot 1111, so that the push-clamp flexible shaft 22 moves backward against the elastic force of the first elastic member 112 under the pull of the tension cable 123. The second elastic member 113 is at least partially accommodated in the second slot 1112 and sleeved on the portion of the push-clamp flexible shaft 22 that extends out of the hollow flexible shaft 23. The first end of the second elastic member 113 abuts against the second end of the hollow flexible shaft 23, and the second end of the second elastic member 113 abuts against the end of the second slot 1112, so that the hollow flexible shaft 23 moves backward against the elastic force of the second elastic member 113 as the push-clamp flexible shaft 22 moves backward.

[0190] According to embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the main body 11 includes a main body box 111 and a cover that are joined together vertically. Figure 5(The cover is removed). For example, multiple connecting posts with threaded holes are provided inside the main body box 111, and the cover is installed on the main body box 111 by multiple screws threaded onto the mounting posts. The front end of the push-clamp flexible shaft 22 is connected to the base 342 of the push-clamp mechanism 34. The first blocking protrusion 221 on the push-clamp flexible shaft 22 is located between the push-clamp mechanism 34 and the connecting part 21, so that when the push-clamp flexible shaft 22 moves backward, it can drive the connecting part 21 to move backward. The rear end of the push-clamp flexible shaft 22 extends through the connecting tube 4 and the hollow flexible shaft 23 into the main body part 11. The rear end of the push-clamp flexible shaft 22 is provided with a second blocking protrusion 222, which contacts the first elastic member 112 inside the main body box 111. The first elastic member 112 is placed in the first slot 1111. The front end of the hollow flexible shaft 23 extends through the connecting tube 4 to the rear side of the connecting part 21, and the rear end of the hollow flexible shaft 23 contacts the second elastic element 113 inside the main body box 111. The second elastic element 113 is placed in the second slot 1112.

[0191] When the push-clamp flexible shaft 22 moves backward, the second blocking protrusion 222 located at the rear end of the push-clamp flexible shaft 22 compresses the first elastic member 112. The first blocking protrusion 221 on the push-clamp flexible shaft 22 located at the front end of the connecting part 21 drives the connecting part 21 to move backward. The connecting part 21 abuts against the front end of the hollow flexible shaft 23 and pushes the hollow flexible shaft 23 to move backward. The hollow flexible shaft 23 squeezes the second elastic member 113, causing the second elastic member 113 to be compressed.

[0192] In one illustrative embodiment, a third blocking protrusion 231 is provided circumferentially at the rear end of the hollow flexible shaft 23. The third blocking protrusion 231 contacts the front end of the second elastic member 113 to squeeze the second elastic member 113 and compress it.

[0193] In an alternative embodiment, a third blocking protrusion may be formed at a position adjacent to the rear end of the hollow flexible shaft 23.

[0194] Figure 23 Schematic illustration Figure 5 A partial enlarged view of part C of the internal structure of the grip shown. Figure 24 Schematic illustration Figure 5 A magnified view of part D of the internal structure of the grip shown.

[0195] According to embodiments of this disclosure, such as Figure 5 , Figure 6 , Figure 23 and Figure 24As shown, the rapid-fire clamp also includes a tension cable assembly. When the grip 1 is gripped, causing the auxiliary handle 13 to move towards the main handle 12, the moving part 1213 of the drive mechanism pulls the push clamp flexible shaft 22 backward via the tension cable assembly. The tension cable assembly includes a first conduit 122 and a tension cable 123. The two ends of the first conduit 122 are connected to the main body 11 and the auxiliary handle 13, respectively. The tension cable 123 passes through the first conduit 122, and its two ends are connected to the drive mechanism and the push clamp flexible shaft 22, respectively. Thus, the first conduit 122 guides the tension cable 123 to slide relative to the first conduit 122.

[0196] Furthermore, the two ends of the tension cable 123 are respectively connected to the moving part 1213 and the rear end of the push-clamp flexible shaft 22, so that when the moving part 1213 moves, it drives the tension cable 123 to move, thereby causing the push-clamp flexible shaft 22 to move backward. On the other hand, when the grip is released (the force of gripping the grip disappears), the push-clamp flexible shaft 22 uses the elastic force of the first elastic member 112 to push the connecting part 21 forward.

[0197] According to embodiments of this disclosure, the tension cable assembly further includes a plurality of sixth guide wheels 119. The tension cable 123, which extends from the first conduit 122 within the main body, is guided by the plurality of sixth guide wheels 119 to the rear end of the push-clamp flexible shaft 22.

[0198] In one illustrative embodiment, the number of sixth guide wheels 119 is one.

[0199] According to embodiments of this disclosure, the flexible joint 5 is rotatably connected to the protective tube 37, and the continuous-fire clamp also includes a handwheel 1215. The handwheel 1215 is disposed on the grip portion 1. The push clamp flexible shaft is also configured to drive the clamp head to rotate relative to the connecting tube under the drive of the drive mechanism. Further, the drive mechanism also includes the handwheel 1215, which is rotatably mounted on the mounting portion 1211 on the main handle 121. Driving the handwheel 1215 to rotate can drive the push clamp flexible shaft 22 to rotate via a transmission mechanism.

[0200] In one illustrative embodiment, such as Figure 14 As shown, a circular groove 373 is opened at the rear end of the protective tube 37, and the rotating bearing 6 is fitted into the circular groove 373. The protective tube 37 and the connecting tube 4 are rotatably connected through the rotating bearing 6.

[0201] In an alternative embodiment, the rotating bearing 6 can be omitted, allowing the flexible joint 5 to be directly coupled to the protective tube 4.

[0202] According to embodiments of this disclosure, such as Figure 5 , Figure 6 and Figure 23As shown, the rear end of the push-clamp flexible shaft 22 is formed as a drive section, and the outer surface of the drive section has at least one flat surface. The transmission mechanism also includes a support frame 1113, a rotating wheel 114, and a ring cable 124. Figure 5 and Figure 6 As shown, the support frame 1113 is disposed within the receiving space of the main body 11. The rotating wheel 114 is rotatably mounted on the support frame 1113. The drive section of the push-clamp flexible shaft 22 passes through the rotating wheel 114, causing the push-clamp flexible shaft 22 to rotate under the drive of the rotating wheel 114, thereby driving the protective tube 37 and the clamp head 3 to rotate relative to the connecting tube 4, and allowing the push-clamp flexible shaft 22 to reciprocate linearly in the axial direction relative to the rotating wheel 114. Figure 5 , Figure 6 and Figure 23 As shown, a ring cable 124 is sleeved on the rotating wheel 114 and the handwheel 1215, so that the handwheel 1215 drives the rotating wheel 114 to rotate through the ring cable 124. The rotating wheel 114 drives the push clamp flexible shaft 22 to rotate, thereby causing the clamp head 3 to rotate. For example, the operator rotates the handwheel 1215 with his thumb. The handwheel 1215 drives the push clamp flexible shaft 22 to rotate. The push clamp flexible shaft 22 drives the push clamp mechanism to rotate, which in turn drives the connecting part 21 to rotate. The connecting part 21 causes the clamp head 3 to rotate relative to the end joint 52.

[0203] During the continuous clamping surgery using the embodiments of this disclosure, if it is necessary to change the angle of the clamp head 3 according to the requirements of the surgical site or the operator's surgical posture, the operator can use his thumb to rotate the handwheel 1215 while holding the handle. The handwheel 1215 drives the push clamp shaft 22 to rotate, the push clamp flexible shaft drives the push clamp mechanism and the connecting part 21 to rotate, the connecting part 21 drives the clamp head 3 to rotate relative to the end joint 52, and then rotates relative to the connecting tube 4, finally rotating the clamp head 3 to a position suitable for surgical operation.

[0204] According to an embodiment of this disclosure, the length of the drive section of the push clamp shaft 22 is greater than the sum of the distance between two adjacent second clamps 35 and the length required for the clamps to open, so that when the push clamp shaft 22 pushes the push clamp mechanism forward, the rear end of the push clamp shaft 22 is always kept within the rotating wheel 114, so that the rotating wheel 114 can always drive the push clamp shaft to rotate.

[0205] According to embodiments of this disclosure, the driving segment of the push-clamp flexible shaft 22 is any one of non-circular shapes such as D-shaped, polygonal, or elliptical.

[0206] According to embodiments of this disclosure, such as Figure 5 and Figure 6 As shown, the transmission mechanism also includes two second conduits 125, with the two ends of the second conduits 125 connected to the main body 11 and the operating handle 12, respectively. A ring cable 124 passes through the two second conduits 125, so that the second conduits 125 guide the ring cable 124 to move within them.

[0207] In one illustrative embodiment, such as Figure 23 As shown, the continuous-fire clamp also includes two first bearings. A rotating wheel 114 is mounted on the drive section of the push-clamp flexible shaft 22 and clamped between the two first bearings. The two first bearings are placed on a support frame 1113 within the main body 11 and rotatably support the push-clamp flexible shaft 22. Cylindrical protrusions can be provided on both sides of the rotating wheel 114. The rotating wheel 114 is mounted on the two first bearings via these cylindrical protrusions. The push-clamp shaft 22 passes through the rotating wheel 114 and rotates with it.

[0208] According to embodiments of this disclosure, while the operating handle 12 is rotating and / or swinging, the operator can also drive the rotating wheel 114 of the first transmission mechanism to rotate via the handwheel 1215, thereby driving the push clamp shaft 22 to rotate, thus realizing the rotation of the clamp head relative to the flexible joint 5.

[0209] According to embodiments of this disclosure, such as Figure 6 As shown, the transmission mechanism also includes a plurality of seventh guide wheels 120, which are configured to guide the annular cable from the rotating wheel 114 into the second conduit 125. The seventh guide wheels 120 are mounted within the main body 11 via guide wheel brackets 1114.

[0210] In one illustrative embodiment, such as Figure 6 As shown, there are two seventh guide wheels 120.

[0211] According to the embodiments of this disclosure, the push clamp shaft 22 can not only drive the clamp head 3 to rotate relative to the connecting tube 4 through the transmission mechanism under the drive of the handwheel 1215, but also pull the connecting part 21 backward when the handle part 1 is gripped, so that the clamp clamps the first clamp (that is, clamps the clamp onto the blood vessel or urinary tract), and at the same time compresses the elastic mechanism. When the main handle and auxiliary handle are released (the force of gripping the handle part disappears), the elastic force of the elastic mechanism pushes the push clamp mechanism 34 forward, so that the clamp opens and pushes the second clamp located in the clamping chamber forward, and pushes the second clamp located at the front end to the clamping part 321.

[0212] According to embodiments of this disclosure, by providing an elastic mechanism and a hollow tube 23, the length of the pliers head can be shortened, thereby improving the control accuracy of the pliers head.

[0213] According to embodiments of this disclosure, during operation, the pliers head 3 first places a first clamp, and multiple compressed second clamps 35 are placed in the clamping chamber. The push-clamp flexible shaft 22 will then... Figure 12 Location. In this situation, tighten the main handle 12 and the auxiliary handle 13, and push the flexible shaft 22 backward. Figure 12The push clamp mechanism 34 moves backward, moving from left to right, which in turn moves the connecting part 2 backward. When the first blocking protrusion 221 of the push clamp flexible shaft 22 abuts against the bottom 212 of the connecting part 21, the push clamp flexible shaft moves backward through the first blocking protrusion 221 and the bottom of the connecting part 21. The connecting arm 211 of the connecting part 21 drives the clamp arm 32 to rotate relative to the first pivot 36, causing the clamps to close and clamp the first clamp provided in the clamping part 321 of the clamps. During the backward movement of the push clamp mechanism 34 with the push clamp flexible shaft 22, the partition 341 of the push clamp mechanism 34 touches the next second clamp 35 (…). Figure 12 When the second clamp 35 located on the right side is engaged, it will move upward due to the elasticity of the cantilever 343 itself. The force restricting the backward movement of the second clamp 35 by the rear wall 3342 of the positioning groove 334 in the half-body 33 is greater than the frictional force of the separator 341 on the second clamp 35, so it remains stationary and will not disengage from the positioning groove 334 and move backward with the push clamping mechanism 34. In this way, the rear end of the second clamp 35 disengages from the base 342 of the push clamping mechanism 34.

[0214] After the pliers close, release the auxiliary handle 12. The push clamp flexible shaft 22 will move forward under the elastic force of the first elastic element 112. The moving length is equal to the sum of the distance between the two adjacent second clamps 35 and the length required for the pliers to open.

[0215] In the first moving phase, the push clamp flexible shaft 22 moves forward ( Figure 12 When the middle moves from right to left, it drives the push clamp mechanism 34 to move forward. At the same time, the hollow flexible shaft 23 moves forward under the action of the second elastic element 113 and pushes the clamps open through the connecting part 21.

[0216] During the first moving phase, as the push clamp mechanism 34 moves forward, because the cantilever 343 is still in an elastic deformation state, the frictional force between the push clamp mechanism 34 and the protrusion 352 of the next second clamp 35 it contacts is less than the force of the positioning groove 334 in the half-body 33 that restricts the forward movement of the next second clamp 35. Therefore, the next second clamp 35 in the clamping compartment remains stationary. As the push clamp mechanism 34 continues to move towards the clamp, the separator 341 of the push clamp mechanism 34 gradually moves between the two second clamps and abuts against the previous second clamp. Figure 12 The second clamp 35 is located at the rear of the left side, while the base groove 3421 abuts against the rear of the next second clamp 35 inside the clamping compartment. That is to say, during the first movement phase, neither of the two second clamps moves.

[0217] Then, in the second moving phase, the separator 341 of the push clamp mechanism 34 continues to apply a pushing force to the previous second clamp. When the pushing force of the separator 341 of the push clamp mechanism 34 pushing the previous second clamp forward is greater than the frictional force between the protrusion 352 of the previous second clamp 35 and the positioning groove 334 of the connecting part, the protrusion of the previous second clamp 35 disengages from the positioning groove 334 and moves forward together with the push clamp flexible shaft 22 until it moves to the front end of the clamp and enters the clamping part 321. During this process, in the two adjacent second clamps 35, the latter second clamp 35 will move to the position previously occupied by the former second clamp 35 under the drive of the base.

[0218] According to embodiments of this disclosure, when the multi-degree-of-freedom repeating clamp head 3 is in use, the main handle 121 can swing around the swing pivot 127. The main handle 121 drives the first drive wheel 128 to rotate, thereby driving the flexible joint 5 to deflect via the second swing cable 1221, achieving the swinging of the clamp in the second plane. The rotating mechanism 126 can rotate around the hollow shaft 1262. The hollow shaft 1262 drives the second drive wheel 129 to rotate, thereby driving the flexible joint 5 via the first swing cable 1220, achieving the swinging of the clamp in the first plane.

[0219] The continuous-fire clamps disclosed herein, by setting a multi-degree-of-freedom structure, allow the clamps to swing in the first plane and the second plane and rotate relative to the main body, thereby obtaining a larger operating space and making the operation more flexible.

[0220] It should be noted that structures with multiple degrees of autonomy can also be used in other surgical instruments.

[0221] The embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. It should be noted that implementations not illustrated or described in the drawings or the main text of the specification are forms known to those skilled in the art and are not described in detail. Furthermore, the definitions of the various elements and methods described above are not limited to the specific structures, shapes, or methods mentioned in the embodiments, and those skilled in the art can easily modify or substitute them.

[0222] Based on the above description, those skilled in the art should have a clear understanding of the continuous-fire clamp provided in this disclosure.

[0223] In summary, this disclosure provides a continuous clamping clamp that enables continuous clamping of ligation clamps and combines the movement of the second clamp within the clamp chamber with the opening and closing motion of the clamps, thereby reducing the operation time for the clamping personnel.

[0224] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this disclosure, and the shapes and dimensions of the components in the drawings do not reflect actual size and proportion, but are only schematic representations of the embodiments of this disclosure.

[0225] Unless otherwise stated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be varied according to desired characteristics derived from the content of this disclosure. Specifically, all figures used in the specification and claims to indicate composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. Generally, this means that a specific amount varies by ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments.

[0226] The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify the corresponding elements does not imply that the element has any ordinal number, nor does it represent the order of one element with another element, or the order of manufacturing methods. The use of these ordinal numbers is only to enable a named element to be clearly distinguished from another element with the same name.

[0227] Furthermore, unless specifically described or required to occur in a specific order, the order of the above steps is not limited to those listed above and can be varied or rearranged according to the desired design. Moreover, the above embodiments can be used in combination with each other or with other embodiments based on design and reliability considerations; that is, technical features from different embodiments can be freely combined to form more embodiments.

[0228] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of this disclosure. It should be understood that the above are only specific embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A rapid-fire clamp, comprising: Main body; A connecting pipe, the rear end of which is connected to the main body; The clamp head is configured to fire in rapid succession and clamp multiple clamps; A flexible joint connects the connecting tube and the clamp head; An operating handle, connected to the main body, is configured to rotate and swing relative to the main body; the operating handle includes: A rotating mechanism, the first end of which is rotatably coupled to the main body, wherein the rotation of the rotating mechanism relative to the main body drives the flexible joint to swing in a first plane via a transmission mechanism; The main handle is rotatably connected to the second end of the rotating mechanism via a pivot; and The first drive wheel is mounted on the swing pivot, and the swing of the main handle relative to the rotation mechanism drives the flexible joint to swing in a second plane perpendicular to the first plane through the transmission mechanism; A transmission mechanism, connected between the flexible joint and the operating handle, causes the rotation and oscillation of the operating handle to drive the flexible joint to oscillate in two mutually perpendicular planes; the transmission mechanism includes: The second drive wheel is mounted on the rotating mechanism; A first swing cable, passing around the second drive wheel, has its first and second ends respectively connected to two opposite positions of the flexible joint in a first radial direction; and Multiple first guide wheels are mounted on the main body and are adapted to guide the first swing cable into the connecting tube.

2. The rapid-fire clamp according to claim 1, wherein, The rotating mechanism has a transmission channel from the first end to the second end. The transmission mechanism also includes: The second and third guide wheels are disposed at the end of the rotating mechanism opposite to the main handle; The second swing cable bypasses the first drive wheel, passes through the transmission channel, and then bypasses the second guide wheel and the third guide wheel respectively. The first end and the second end of the second swing cable are respectively connected to two opposite positions of the flexible joint in a second radial direction perpendicular to the first radial direction. Multiple fourth guide wheels are mounted on the main body and are adapted to guide the second swing cable into the connecting tube.

3. The rapid-fire clamp according to claim 2, wherein, The rotating mechanism includes: Base; A hollow shaft is mounted on the first side of the base, and the second drive wheel is mounted on the hollow shaft; An extension, extending obliquely from a second side of the base opposite to the first side and relative to the axis of the hollow shaft, wherein the first drive wheel is mounted at the free end of the extension; and Two fifth guide wheels are rotatably mounted within the base to guide the first oscillating cable into the hollow shaft.

4. The rapid-fire clamp according to claim 3, wherein, The rotation axes of the first drive wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, and the fifth guide wheel are perpendicular to the rotation axes of the hollow shaft, the second drive wheel, and the first guide wheel.

5. The rapid-fire clamp according to any one of claims 1-4, further comprising: The drive mechanism is installed inside the operating handle; The joint moves reciprocally in a straight line under the drive of the drive mechanism; The clamp head includes: A protective tube, the rear end of which is connected to the front end of the flexible joint; The pliers are configured to clamp the first clamp; A clamping compartment is configured to extend from the outside of the front end of the protective tube through the space defined by the clamps to the inside of the protective tube, wherein a plurality of clamps are movably and sequentially accommodated within a receiving channel defined by the clamping compartment; and A push-clamp mechanism is disposed inside the connecting tube and is configured to push the clamps toward the clamping compartment in sequence under the drive of the joint.

6. The rapid-fire clamp according to claim 5, wherein, The joint includes: The connector is roughly U-shaped, and its two connecting arms are respectively connected to the rear of the pliers' arms to drive the pliers to open or close. A push-clamp flexible shaft extends from the main body through the connecting tube and connects to the clamp head. The push-clamp flexible shaft is configured to drive the clamp head to continuously engage and clamp multiple clamps under the drive of the drive mechanism, and to drive the clamp head to rotate relative to the connecting tube. A hollow flexible shaft is slidably sleeved on the outside of the push-clamp flexible shaft and the inside of the connecting tube. The end of the hollow flexible shaft abuts against the bottom of the connecting part on the side opposite to the push-clamp mechanism, so as to push the connecting part forward and open the clamps. Both the push-clamp flexible shaft and the hollow flexible shaft pass through the flexible joint.

7. The rapid-fire clamp according to claim 6, wherein, The flexible joint includes: The starting joint is connected to the protective tube, and the swing cable of the transmission mechanism is connected to the starting joint at a position in a first radial direction and a second radial direction that are perpendicular to each other; The end joint is installed at the front end of the connecting tube; and Multiple intermediate joints are sequentially connected between the starting joint and the ending joint, allowing the flexible joint to swing in two mutually perpendicular planes. The swing cable extends from the starting joint, through the intermediate joint and the ending joint, into the connecting tube.

8. The rapid-fire clamp according to claim 6, wherein, The push-clamp mechanism includes: The base is configured to reciprocate linearly under the drive of the joint, and the rear end of the second clip located on the rearmost side abuts against the base; A cantilever, detachably mounted on the base and extending forward from the base; and At least one divider extends obliquely from the cantilever between two adjacent clamps and is configured to push the front clamp of the two clamps toward the clamp compartment.

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