clamping pliers

Abstract

This invention discloses a clamping pliers, comprising a lever assembly, an end effector, a clamping chamber, a drive mechanism, and an actuator. The end effector is pivotally connected to the lever assembly so that it rotates relative to the lever assembly in response to a drive mechanism. The clamping chamber has clamps that can be applied to a clamped object by the end effector. The drive mechanism drives the end effector to rotate relative to the lever assembly. The actuator has a locked state and an unlocked state. In the locked state, the actuator performs only a first movement to switch to the unlocked state. In the unlocked state, the actuator performs a second movement to drive the drive mechanism, thereby causing the end effector to rotate relative to the lever assembly. This clamping pliers facilitates operation by physicians and prevents accidental rotation of the end effector by physicians, which could cause injury to the patient.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a clamping forceps. Background Technology

[0002] In surgical procedures, clamps are commonly used to close clips, effectively clamping and stopping bleeding from blood vessels or tissue placed between the two clamp arms. A clamp typically consists of an end effector and a lever assembly. During surgery, the end effector is often rotated relative to the lever assembly by a preset angle to further adjust its position and angle, thus facilitating the procedure.

[0003] When adjusting the position and angle of the end effector, care must be taken to avoid causing harm to the patient. With existing clamping techniques, there is a risk during surgery that the surgeon may accidentally touch the end effector, causing it to rotate relative to the shaft assembly, potentially resulting in injury to the patient.

[0004] In existing clamping techniques, after the end effector rotates at a certain angle relative to the rod assembly, it is difficult to keep the end effector stably at that angle. If the doctor accidentally touches the end effector, it is easy to cause the end effector to rotate again, resulting in inconvenience in operation and potential harm to the patient.

[0005] Based on the above, it is necessary to improve the existing clamping clamps. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention aims to provide a clamp that solves the technical problem that existing clamps are difficult to avoid causing injury to patients due to the rotation of the end effector caused by accidental contact with the end effector.

[0007] This invention is achieved through the following technical solution:

[0008] A clamping clamp, comprising:

[0009] shaft assembly;

[0010] An end effector, the end effector being pivotally connected to the shaft assembly such that the end effector rotates relative to the shaft assembly in response to a drive mechanism;

[0011] A clamping chamber having clamps that can be applied to an object by the end effector;

[0012] A drive mechanism drives the end effector to rotate relative to the rod assembly;

[0013] An actuator having a locked state and an unlocked state, wherein in the locked state the actuator performs and can only perform a first movement to switch to the unlocked state, and in the unlocked state the actuator performs a second movement to drive the drive mechanism to move, thereby causing the end effector to rotate relative to the rod assembly.

[0014] Furthermore, in the unlocked state, the actuator performs a third movement to switch it to the locked state.

[0015] Furthermore, the second movement is rotation, which rotates in response to a force applied to the actuator, causing the end effector to rotate relative to the rod assembly.

[0016] Furthermore, the clamp also includes a locking member. In the locked state, the locking member limits the actuator so that the actuator can only perform the first movement. In the unlocked state, the locking member disengages from the actuator so that the actuator can perform the second movement.

[0017] Furthermore, the actuator has a protrusion, and the locking member has multiple grooves. In the locked state, the protrusion is operably held in one of the grooves, and in the unlocked state, the protrusion disengages from the groove in which it is located.

[0018] Furthermore, the plurality of grooves are arranged along the motion trajectory of the second movement of the actuator.

[0019] Furthermore, the clamping clamp also includes a reset member, which drives the actuator to perform the third movement so that the actuator switches from the unlocked state to the locked state and remains in the locked state.

[0020] Furthermore, the reset element includes an elastic element.

[0021] Furthermore, the drive mechanism includes a steering rod assembly and a transmission assembly. The steering rod assembly includes a first link and a second link pivotally connected. In response to a force applied to the transmission assembly by the actuator, the transmission assembly moves to drive the second link, thereby causing the first link to move to drive the end effector to rotate relative to the rod assembly.

[0022] Furthermore, the end effector is pivotally connected to the rod assembly via a rotating member, one end of which is pivotally connected to the rod assembly, and the other end of which is connected to the end effector.

[0023] Furthermore, the first connecting rod acts on the rotating component.

[0024] Furthermore, the rotating component is connected to the rod assembly via a first pivot point, and the first connecting rod is connected to the rotating component via a second pivot point, wherein the first pivot point and the second pivot point do not coincide.

[0025] Furthermore, in response to the force applied to the clamp, the clamp is conveyed from the clamping chamber to the end effector, whereby the end effector applies the clamp to the object being clamped.

[0026] Furthermore, the end effector is pivotally connected to the rod assembly via a rotating member, and the clamp is detachably disposed on the rotating member; the rotating member includes a channel through which the clamp is conveyed from the clamp to the end effector.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0028] The actuator of the clamp of the present invention has a locked state and an unlocked state. In the locked state, the actuator can only perform the first movement, so that the end effector cannot rotate relative to the rod assembly. Therefore, if the doctor accidentally touches the end effector during the operation, the end effector will not rotate relative to the rod assembly, thereby avoiding harm to the patient and improving the reliability and stability of the clamp. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the first angle of the clamp provided in a specific embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the second angle of the clamp provided in a specific embodiment of the present invention, wherein, Figure 2 yes Figure 1 From the top view angle, the first longitudinal axis of the end effector is at an angle to the second longitudinal axis of the rod assembly;

[0031] Figure 3 This is a structural schematic diagram of the clamping forceps at the third angle provided in a specific embodiment of the present invention, wherein, Figure 3 yes Figure 1 The angle of looking up;

[0032] Figure 4 A partial view of the first angle of the clamp provided in a specific embodiment of the present invention, wherein the sleeve, closing tube, rotating component and operating components are not shown;

[0033] Figure 5 This is a partial view of the fourth angle of the clamping forceps provided in a specific embodiment of the present invention;

[0034] Figure 6 This is a partial view of the fifth angle of the clamp provided in a specific embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the cooperation between the actuator and the locking member of the clamping pliers provided in a specific embodiment of the present invention, wherein the actuator is in a locked state;

[0036] Figure 8 This is a schematic diagram of the cooperation between the actuator and the locking member of the clamping pliers provided in a specific embodiment of the present invention, wherein the actuator is in an unlocked state;

[0037] Figure 9 This is a partial view of the sixth angle of the clamp provided in a specific embodiment of the present invention, wherein the closing tube and the sleeve are not shown;

[0038] Figure 10 This is a partial view of the seventh angle of the clamp provided in a specific embodiment of the present invention;

[0039] Figure 11 This is a partial view of the eighth angle of the clamp provided in a specific embodiment of the present invention, wherein the spindle is not shown;

[0040] Figure 12 This is a partial view of the ninth angle of the clamping forceps provided in a specific embodiment of the present invention;

[0041] Figure 13 This is a partial view of the tenth angle of the clamping pliers provided in a specific embodiment of the present invention, mainly to show the structure of the second transmission component;

[0042] Figure 14 This is a structural schematic diagram of the second angle of the clamp provided in a specific embodiment of the present invention, wherein the first longitudinal axis of the end effector is parallel to the second longitudinal axis of the rod assembly;

[0043] Figure 15 This is a schematic diagram of the first angle of the clamp provided in a specific embodiment of the present invention, wherein the operating components are not shown;

[0044] Figure 16 This is a structural schematic diagram of the clamp at the first angle provided in a specific embodiment of the present invention, mainly to demonstrate the cooperation between the pivot and the spindle;

[0045] Figure 17 This is a schematic diagram of the connecting sleeve of the clamping pliers provided in a specific embodiment of the present invention;

[0046] Figure 18 This is a cross-sectional view of a portion of the third angle of the clamp provided in a specific embodiment of the present invention, wherein the clamping rod is not in contact with the clamp;

[0047] Figure 19This is a cross-sectional view of a portion of the third angle of the clamp provided in a specific embodiment of the present invention, wherein the clamping rod abuts against the clamp and pushes the clamp against the end effector;

[0048] Figure 20 This is a cross-sectional view of a portion of the first angle of the clamp provided in a specific embodiment of the present invention, wherein the closing tube and the sleeve are not shown;

[0049] Figure 21 This is a schematic diagram of the structure of the clamping chamber provided in a specific embodiment of the present invention, wherein one side wall of the clamping chamber is not shown in order to show the internal structure of the clamping chamber;

[0050] Figure 22 This is a cross-sectional view of the clamping chamber provided in a specific embodiment of the present invention, wherein neither the clamp nor the biasing component is shown;

[0051] Figure 23 This is a schematic diagram of the rotating component provided in a specific embodiment of the present invention;

[0052] Figure 24 This is a partial view of the first angle of the clamping clamp provided in a specific embodiment of the present invention, wherein the clamping chamber is not shown;

[0053] Figure 25 This is another partial area diagram of the first angle of the clamp provided in a specific embodiment of the present invention;

[0054] Figure 26 This is a partial view of the eleventh angle of the clamp provided in a specific embodiment of the present invention;

[0055] Figure 27 This is a partial view of the twelfth angle of the clamp provided in a specific embodiment of the present invention;

[0056] The reference numerals in the above figures are as follows:

[0057] 1-Operating component; 101-Wrench; 102-Head housing; 1021-First head housing; 103-Handle housing;

[0058] 2-Pole assembly; 201-Main shaft; 2011-First pivot shaft; 2012-Second plane; 3-End actuator; 301-First clamp arm; 302-Second clamp arm; 4-Clamping chamber; 401-Inlet; 402-Outlet; 403-Clamp; 4031-First clamp; 4032-Second clamp; 4033-Third clamp; 404-Offset assembly; 4041-First torsion arm; 4042-Second torsion arm; 4043-Push plate; 405-First male latch; 406-Second male latch; 5-Locking element; 501-Recess; 6-Actuator; 601-Protrusion; 602-Force application 7-Reset component; 8-Feeding rod; 9-Rod body; 10-Shaft body; 11-Rotating component; 1101-Third pivot shaft; 1102-Pivot joint; 1103-Channel; 1104-First female latch; 1105-Second female latch; 12-First connecting rod; 13-Second connecting rod; 1301-Second pivot shaft; 14-First transmission component; 1401-First tooth; 15-Second transmission component; 1501-Second tooth; 1502-Limiting tooth; 16-Sleeve; 17-Closed tube; 1701-Opening; 18-Pivot Component; 1801-Fourth pivot shaft; 1802-Fifth pivot shaft; 1803-First plane; 19-Rotating component; 20-Connecting sleeve; 2001-First stop; 2002-Second stop; 21-Luer connector; 22-First pivot axis; 23-Second pivot axis; 24-First longitudinal axis; 25-Second longitudinal axis; 26-Third longitudinal axis; 27-First socket; 28-Second socket; 29-First oblong hole; 30-Second oblong hole; 31-Column; 32-Stop block; 33-Clip Block; 34-Guide post; 35-First guide surface; 36-Second guide surface; 37-Second elastic element; 38-First push post; 39-Second push post; 40-First driving component; 41-Annular flange; 42-Seat body; 4201-First connecting part; 4202-Second connecting part; 43-First rod body; 44-Second rod body; 45-Sliding groove; 46-Pushing part; 1011-First head housing; 47-Retaining ring; 48-Third elastic element; 49-Fourth elastic element; 50-Fifth elastic element; 51-Base. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0060] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the clinician manipulating the handle assembly of the clamp. "Proximal" refers to the portion closer to the clinician, while "distal" refers to the portion farther from the clinician. That is, the handle assembly is the proximal end, and the end effector is the distal end. For example, the proximal end of a component refers to the end relatively closer to the handle assembly, and the distal end refers to the end relatively closer to the end effector. However, clamps can be used in many orientations and positions, so these terms expressing relative positional relationships are not limited or absolute.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0062] Please see Figure 1-3 This embodiment provides a clamping clamp, which includes an operating component 1, a lever assembly 2 extending from the operating component 1, an end effector 3, a clamping chamber 4, a drive mechanism, and an actuator 6.

[0063] Operating component 1 includes a housing and a wrench 101 movably mounted on the housing. The housing is divided into a head housing 102 and a handle housing 103 extending from the underside of the head housing 102. The handle housing 103 and the wrench 101 form a handle assembly. A user can hold the handle housing 103 with one hand and pull the wrench 101 with their fingers, causing the wrench 101 to move relative to the housing. Those skilled in the art will readily recognize that although a wrench 101 is shown and described, the clamps disclosed herein may also be designed without a wrench 101. For example, the clamps may be electrically powered and may include an actuation button for actuating a motor to control the firing of the device.

[0064] End effector 3 is located at the distal end of lever assembly 2. End effector 3 is pivotally connected to lever assembly 2 so that end effector 3 can rotate relative to lever assembly 2. Specifically, refer to... Figure 1-2The end effector 3 defines a first longitudinal axis 24, and the rod assembly 2 defines a second longitudinal axis 25. The end effector 3 can rotate relative to the rod assembly 2 about a first pivot axis 22 in response to the drive mechanism, so that the first longitudinal axis 24 is parallel to or at an angle to the second longitudinal axis 25. This makes it easier for doctors to adjust the position and angle of the end effector 3, thus facilitating its use.

[0065] The clamping chamber 4 has a clamp 403, which can be applied to the object (tissue or blood vessel) by the end effector 3. Specifically, the clamping forceps also includes a clamping rod 8, which can move distally or proximally (see description below). Distal movement of the clamping rod 8 pushes the clamp 403 of the clamping chamber 4 against the end effector 3, while proximal movement causes the clamping rod 8 to move after clamping to achieve repositioning. When the clamping rod 8 pushes the clamp 403 against the end effector 3, the end effector 3 closes, allowing the clamp 403 to be applied to the object.

[0066] Actuator 6 can act on a drive mechanism. By manipulating actuator 6, the drive mechanism can be moved to drive end effector 3 to rotate relative to the rod assembly 2 about the first pivot axis 22. Actuator 6 has a locked state and an unlocked state. In the locked state, actuator 6 can only perform a first movement to switch to the unlocked state. "Can only perform a first movement" means that actuator 6 can only perform the first movement and cannot perform a second movement, thus preventing the end effector 3 from rotating relative to the rod assembly 2 about the first pivot axis 22. In the unlocked state, actuator 6 can perform a second movement to drive the drive mechanism to move, thereby causing the end effector 3 to rotate relative to the rod assembly 2 about the first pivot axis 22.

[0067] In the locked state, actuator 6 can only perform a first movement, preventing it from driving the drive mechanism and thus preventing the drive mechanism from driving the end effector 3 to rotate relative to the rod assembly 2. In other words, when actuator 6 is in the locked state, end effector 3 cannot rotate relative to the rod assembly 2 about the first pivot axis 22. Therefore, during surgery, if it is not necessary to rotate end effector 3, actuator 6 is kept in the locked state.

[0068] When actuator 6 is in the locked state, under the action of locking member 5, actuator 6 cannot perform a second movement, thus preventing the drive mechanism from moving. At this time, the first link 12 restricts the degree of freedom of rotating member 11, preventing rotating member 11 from rotating. Consequently, the end effector 3 cannot rotate relative to the rod assembly 2 around the first pivot axis 22. That is, when actuator 6 is in the locked state, even if the doctor accidentally touches the end effector 3 during surgery, the end effector 3 will not rotate relative to the rod assembly 2, thereby avoiding harm to the patient and improving the reliability and stability of the clamp.

[0069] In the unlocked state, actuator 6 can perform a third movement to switch it to the locked state. Specifically, in the unlocked state, manipulating actuator 6 causes end effector 3 to rotate a certain angle relative to rod assembly 2 about the first pivot axis 22, and then actuator 6 performs a third movement to switch it to the locked state. Thus, end effector 3 can no longer rotate but remains at that angle. This facilitates the doctor's operation and prevents the doctor from accidentally touching end effector 3 and causing it to rotate again, which could harm the patient.

[0070] refer to Figure 4-5 Actuator 6 is connected to the drive mechanism via a connecting assembly. The connecting assembly includes a rod 9 and a shaft 10. Rod 9 is connected to the drive mechanism, thereby enabling rod 9 to drive the drive mechanism to move. Rod 9 defines a third longitudinal axis 26, which is substantially perpendicular to the second longitudinal axis 25 of the rod assembly 2. Shaft 10 is connected to rod 9 and extends substantially parallel to the second longitudinal axis 25 of the rod assembly 2. Actuator 6 is fitted onto shaft 10 and can slide along shaft 10. Actuator 6 can rotate about the third longitudinal axis 26 of rod 9 and drive rod 9 to rotate.

[0071] refer to Figure 4 , 6 -8. The clamp includes a locking member 5 disposed on the head housing 102. In the locked state, the locking member 5 limits the actuator 6, allowing the actuator 6 to perform only a first movement. In the unlocked state, the locking member 5 disengages from the actuator 6. Specifically, the actuator 6 has a protrusion 601 located between the locking member 5 and the rod body 9. The locking member 5 has multiple recesses 501, each recess 501 of the locking member 5 being adapted to fit the protrusion 601 of the actuator 6, and each recess 501 of the locking member 5 being capable of receiving the protrusion 601. The protrusion 601 of the actuator 6 can be selectively accommodated within one of the recesses 501. In the locked state, the protrusion 601 of the actuator 6 is operably held within one of the recesses 501 of the locking member 5. In the unlocked state, the protrusion 601 of the actuator 6 disengages from its corresponding recess 501. Since the actuator 6 can slide along the shaft 10, the protrusion 601 of the actuator 6 can move between the rod 9 and the locking member 5, so that the actuator 6 can switch between the locked state and the unlocked state.

[0072] In this embodiment, the second motion is rotation. The first and third motions are both linear motions. Specifically, the actuator 6 slides on the shaft 10 in the direction toward the rod 9 as the first motion, the actuator 6 rotates about the third longitudinal axis 26 of the rod 9 as the second motion, and the actuator 6 slides on the shaft 10 in the direction away from the rod 9 as the third motion.

[0073] Actuator 6 slides on shaft 10 in a direction toward rod 9 (first movement), causing protrusion 601 of actuator 6 to disengage from recess 501, thereby switching actuator 6 from a locked state to an unlocked state. In the unlocked state, in response to a force applied to actuator 6, actuator 6 rotates about the third longitudinal axis 26 of rod 9 (second movement) to drive the drive mechanism, causing end effector 3 to rotate relative to rod assembly 2 about the first pivot axis 22. In the unlocked state, actuator 6 slides on shaft 10 in a direction away from rod 9 (third movement), causing protrusion 601 of actuator 6 to be operably received within one of the recesses 501 of locking member 5, thereby switching actuator 6 from an unlocked state to a locked state.

[0074] refer to Figure 7-8 The locking member 5 is an arc-shaped component, with multiple recesses 501 disposed on the inner side of the arc-shaped component, each recess 501 extending radially along the arc-shaped component. The multiple recesses 501 are arranged approximately circumferentially and along the movement trajectory of the second movement of the actuator 6. Thus, when the actuator 6 rotates by a preset angle, the actuator 6 can perform a third movement at that preset angle, causing the protrusion 601 of the actuator 6 to be accommodated within the recess 501 corresponding to the preset angle. This allows the actuator 6 to maintain the preset angle while switching to the locked state, ensuring that the end effector 3 can stably maintain a certain rotation angle.

[0075] The multiple recesses 501 of the locking member 5 allow the end effector 3 to rotate at different angles and stably maintain its rotation angle. Specifically, the actuator 6 can drive the end effector 3 to rotate relative to the rod assembly 2 about the first pivot axis 22 in a first direction, and can also drive the end effector 3 to rotate relative to the rod assembly 2 about the first pivot axis 22 in a second direction. The rotation of the end effector 3 in the first direction includes a fully rotated state, in which the end effector 3 is in the first position. The rotation of the end effector 3 in the second direction also includes a fully rotated state, in which the end effector 3 is in the second position. The actuator 6 can drive the end effector 3 to rotate to the first position, can also drive the end effector 3 to rotate to the second position, and can drive the end effector 3 to rotate between the first position and the second position. Because the multiple recesses 501 of the locking member 5 are arranged along the rotation trajectory of the actuator 6, the actuator 6 can perform a third movement after rotating a preset angle to selectively accommodate itself in a recess 501 corresponding to the preset angle, thereby switching the actuator 6 to a locked state. This allows the end effector 3 to be stably held in a first position, a second position, or a position between the first and second positions. In other words, the end effector 3 can rotate relative to the lever assembly 2 at multiple angles and can stably maintain its rotation angle, thus making the use of the clamp more flexible. The first and second positions are both relative to the lever assembly 2, and are the positions of the end effector 3 relative to the lever assembly 2.

[0076] refer to Figure 1 , 6 -8. The actuator 6 has a force-applying part 602, which is located on the outside of the head housing 102. By applying force to the force-applying part 602, the actuator 6 can perform a first movement or a second movement.

[0077] refer to Figure 6-8 The clamp includes a reset member 7, which drives the actuator 6 to perform a third movement, causing the actuator 6 to switch from an unlocked state to a locked state and remain in the locked state. Specifically, the reset member 7 can apply a force to the actuator 6 generally opposite to the rod 9, causing the actuator 6 to slide on the shaft 10 in a direction opposite to the rod 9, so that the protrusion 601 of the actuator 6 is received in the recess 501 of the locking member 5, thereby switching the actuator 6 from an unlocked state to a locked state. The reset member 7 includes an elastic element. In this embodiment, the reset member 7 is a spring, which is disposed between the actuator 6 and the rod 9. Preferably, the spring is sleeved on the shaft 10.

[0078] refer to Figure 9-1023. In this embodiment, the clamp includes a rotating member 11. The end effector 3 and the lever assembly 2 are pivotally connected via the rotating member 11. The proximal end of the rotating member 11 is pivotally connected to the lever assembly 2, allowing the rotating member 11 to rotate relative to the lever assembly 2 about a first pivot axis 22. The distal end of the rotating member 11 is connected to the end effector 3. Specifically, the end effector 3 includes a first clamping arm 301 and a second clamping arm 302 pivotally connected to the rotating member 11, thereby allowing the first clamping arm 301 and the second clamping arm 302 to move closer to each other, and when the rotating member 11 rotates relative to the lever assembly 2 about the first pivot axis 22, the end effector 3 can rotate with the rotating member 11, that is, the end effector 3 can rotate relative to the lever assembly 2 about the first pivot axis 22 under the drive of the rotating member 11. Specifically, the lever assembly 2 includes a main shaft 201. The proximal end of the rotating member 11 and the distal end of the main shaft 201 are pivotally connected via a first pivot shaft 2011. A first pivot shaft 2011 is disposed on the main shaft 201. The rotating member 11 has a first pivot hole adapted to the first pivot shaft 2011. The first pivot shaft 2011 passes through the first pivot hole, allowing the rotating member 11 to rotate around the first pivot shaft 2011, thereby enabling the end effector 3 to rotate relative to the rod assembly 2 around the first pivot axis 22. The first pivot axis 22 is the central axis of the first pivot shaft 2011.

[0079] refer to Figure 9-10 In this embodiment, the clamping chamber 4 is detachably mounted on the rotating component 11. Specifically, refer to... Figure 21-23 The rotating component 11 has a first female latch 1104 at its distal end and a second female latch 1105 at its proximal end. The clamping chamber 4 has a first male latch 405 at its distal end that mates with the first female latch 1104. The clamping chamber 4 has a second male latch 406 at its proximal end that mates with the second female latch 1105. The first male latch 405 and the first female latch 1104 are detachably engaged. The second male latch 406 and the second female latch 1105 are detachably engaged, thus detachably connecting the clamping chamber 4 to the rotating component 11. Therefore, when the end effector 3 rotates relative to the rod assembly 2 about the first pivot axis 22, the clamp 4 can rotate simultaneously with the end effector 3. When the clamp 403 of the clamp 4 is exhausted, the clamp 4 can be removed from the rotating part 11 and replaced with a new clamp 4 with clamp 403, so that the clamp can continue to be used. This achieves the reuse of the clamp and can save costs.

[0080] In this embodiment, the drive mechanism includes a steering rod assembly and a transmission assembly. The transmission assembly can drive the steering rod assembly to move, thereby causing the steering rod assembly drive end actuator 3 to rotate relative to the rod body assembly 2 about the first pivot axis 22. The rod body 9 in the connecting assembly is connected to the transmission assembly, and the actuator 6 can drive the rod body 9 to rotate, thereby causing the transmission assembly to move, and thus the transmission assembly drives the steering rod assembly to move.

[0081] refer to Figure 9-11 The steering rod assembly includes a first link 12 and a second link 13. The first link 12 and the second link 13 are pivotally connected. Specifically, the distal end of the second link 13 is provided with a second pivot shaft 1301, and the proximal end of the first link 12 is provided with a second pivot hole adapted to the second pivot shaft 1301. The second pivot shaft 1301 passes through the second pivot hole, allowing the first link 12 to rotate relative to the second link 13. The main shaft 201 is provided with a first groove, and the second link 13 is disposed in the first groove and can move within the first groove.

[0082] The distal end of the first link 12 is pivotally connected to the proximal end of the rotating member 11, allowing the distal end of the first link 12 to act on the rotating member 11. The rotating member 11 is connected to the main shaft 201 of the rod assembly 2 via a first pivot point, and the first link 12 is connected to the rotating member 11 via a second pivot point, the first pivot point and the second pivot point not coinciding. Specifically, a third pivot shaft 1101 is provided at the proximal end of the rotating member 11, and a third pivot hole adapted to the third pivot shaft 1101 is provided at the distal end of the first link 12. The third pivot shaft 1101 passes through the third pivot hole, and the third pivot shaft 1101 does not coincide with the first pivot shaft 2011. Because the first link 12 is pivotally connected to the rotating member 11, the first link 12 can apply force to the rotating member 11 to drive its rotation, and the mutual interference between the two during movement is reduced.

[0083] The second link 13 is connected to the transmission assembly. The actuator 6 is rotated to drive the transmission assembly, which in turn drives the second link 13 to move towards the distal or proximal end. Under the action of the second link 13, the first link 12 rotates along a first or second direction, thereby causing the rotating member 11 to rotate along the first or second direction. This causes the end effector 3 to rotate relative to the rod assembly 2 about the first pivot axis 22 along the first or second direction, as described later.

[0084] refer to Figure 4-6 11-13, the transmission assembly includes a first transmission member 14 and a second transmission member 15 that are tractably connected. The second transmission member 15 is connected to the second connecting rod 13, and the first transmission member 14 is connected to the rod 9 in the connecting assembly. The rod 9 can drive the movement of the first transmission member 14. Actuating the actuator 6 causes the rod 9 to rotate, thereby rotating the first transmission member 14 and moving the second transmission member 15 to a distal or proximal end, which in turn drives the second connecting rod 13 to move to a distal or proximal end.

[0085] Specifically, refer to Figure 7-812. The first transmission member 14 has a first toothed portion 1401. The first toothed portion 1401 includes a plurality of first teeth arranged circumferentially such that the central axis of the first toothed portion 1401 is substantially perpendicular to the second longitudinal axis 25 of the rod assembly 2. (Reference) Figure 12-13 The second transmission member 15 is sleeved on the main shaft 201. The second transmission member 15 has a second tooth portion 1501, which includes a plurality of second teeth arranged generally along the second longitudinal axis 25 of the rod assembly 2. The second tooth portion 1501 is located on one side of the second transmission member 15. The plurality of second teeth are arranged in a row.

[0086] The first tooth 1401 meshes with the second tooth 1501. Thus, when the first tooth 1401 rotates, the first tooth 1401 meshes with the second tooth 1501, causing the second transmission member 15 to displace towards the proximal or distal end.

[0087] refer to Figure 7-8 12, the first transmission component 14 is a gear with a first tooth 1401. One end of the rod 9 is connected to the gear.

[0088] refer to Figure 12-13 The second tooth portion 1501 has a first end and a second end opposite to each other along the second longitudinal axis 25 of the rod assembly 2. The first end has a limiting tooth 1502, and the second end also has a limiting tooth 1502. That is, the multiple second teeth of the second tooth portion 1501 are located between the two limiting teeth 1502. The width of the limiting tooth 1502 is greater than that of the second tooth. The limiting tooth 1502 does not fit with the first tooth portion 1401 of the first transmission member 14. Therefore, the first transmission member cannot mesh with the limiting tooth 1502, so that the first transmission member 14 can only move between the limiting teeth 1502 at both ends of the second transmission member 15. Thus, when the first transmission member 14 moves to the limiting tooth 1502 at the first end of the second tooth portion 1501, the first transmission member 14 can no longer move. At this time, the drive mechanism drives the end actuator 3 to rotate to the first position. When the first transmission member 14 moves to the limiting tooth 1502 at the second end of the second tooth 1501, the first transmission member 14 can no longer move. At this time, the drive mechanism drives the end actuator 3 to rotate to the second position.

[0089] It should be noted that the movement of the transmission assembly is equivalent to the first transmission member 14 moving along the second tooth of the second transmission member 15. However, in actual movement, the first transmission member 14 has no displacement in the direction of the second longitudinal axis 25 of the rod assembly 2, while the second transmission member 15 has a displacement towards the far end or near end in the direction of the second longitudinal axis 25 of the rod assembly 2, so as to drive the steering rod assembly to move, thereby causing the end actuator 3 to rotate.

[0090] by Figure 1 , 4With the placement angle and direction of the clamp as a reference, the rotation trajectory of the end effector 3 is perpendicular to... Figure 1 , 4 The paper on which it is located. Figure 1 , 4 In the middle, the first direction is clockwise and the second direction is counterclockwise.

[0091] The actuator 6 is manipulated to rotate clockwise, thereby driving the first tooth 1401 of the first transmission member 14 to rotate clockwise. The first tooth 1401 meshes with the second tooth 1501, causing the second transmission member 15 to be displaced to the distal end. This causes the second link 13 to move to the distal end, causing the first link 12 to rotate in the first direction and drive the rotating member 11 to rotate in the first direction. As a result, the end effector 3 and the clamp 4 rotate in the first direction.

[0092] The actuator 6 is manipulated to rotate counterclockwise, thereby driving the first tooth 1401 of the first transmission member 14 to rotate counterclockwise. The first tooth 1401 meshes with the second tooth 1501, causing the second transmission member 15 to displace proximally, which in turn moves the second link 13 proximally, causing the first link 12 to rotate in the second direction and drive the rotating member 11 to rotate in the second direction. Thus, the end actuator 3 and the clamp 4 rotate in the second direction.

[0093] refer to Figure 1-2 14-15, In this embodiment, the clamping pliers also include a sleeve 16 and a closing tube 17. The sleeve 16 is fitted onto the main shaft 201 and also forms part of the rod body assembly 2. The closing tube 17 is located at the distal end of the sleeve 16 and is fitted onto the rotating member 11 and the clamping chamber 4. (Reference) Figure 1 , 24 The closed tube 17 has an opening 1701, through which the clamping chamber 4 can be inserted into the closed tube 17. The first male latch 405 of the clamping chamber 4 is then engaged with the first female latch 1104 of the rotating member 11, and the second male latch 406 of the clamping chamber 4 is engaged with the second female latch 1105 of the rotating member 11, allowing the clamping chamber 4 to be detachably installed on the rotating member 11. When disassembling the clamping chamber 4, it is disassembled from the opening 1701 and removed from the closed tube 17.

[0094] The sleeve 16 is movable proximally or distally (see description below). The sleeve 16 acts on the closing tube 17, which cooperates with the end effector 3. The movement of the sleeve 16 proximally or distally allows the closing tube 17 to move proximally or distally, thereby opening or closing the end effector 3. Specifically, a first elastic element is provided between the first clamp arm 301 and the second clamp arm 302. When the closing tube 17 moves distally (i.e., forward), the end effector 3 is received within the closing tube 17 from its distal end. At this time, the first elastic element is compressed to store energy, and the end effector 3 closes. When the closing tube 17 moves proximally (i.e., backward), the end effector 3 extends from its distal end, and the first elastic element releases energy, causing the end effector 3 to open. In this embodiment, the first elastic element is a spring.

[0095] refer to Figure 2 , 15 The sleeve 16 is pivotally connected to the closed tube 17. Since the closed tube 17 is sleeved on the rotating member 11, when the rotating member 11 rotates, in response to the force applied to the closed tube 17 by the rotating member 11, the closed tube 17 rotates relative to the sleeve 16 about the second pivot axis 23. The second pivot axis 23 is parallel to the first pivot axis 22.

[0096] refer to Figure 14-16 The sleeve 16 and the closed tube 17 are pivotally connected via pivot members 18. In this embodiment, two pivot members 18 are provided. The proximal end of each pivot member 18 is pivotally connected to the sleeve 16, and the distal end of each pivot member 18 is pivotally connected to the closed tube 17.

[0097] Specifically, each pivot member 18 has a fourth pivot shaft 1801 at its proximal end and a fifth pivot shaft 1802 at its distal end. The first pivot shaft 2011, the fourth pivot shaft 1801, and the fifth pivot shaft 1802 are oriented in roughly the same direction, generally perpendicular to the second longitudinal line of the shaft assembly 2. The distal end of the sleeve 16 has two fourth pivot holes. The fourth pivot holes are adapted to the fourth pivot shafts 1801. The fourth pivot shaft 1801 of one pivot member 18 passes through one fourth pivot hole, and the fourth pivot shaft 1801 of another pivot member 18 passes through the other fourth pivot hole. The proximal end of the closed tube 17 has two fifth pivot holes. The fifth pivot holes are adapted to the fifth pivot shafts 1802. The fifth pivot shaft 1802 of one pivot member 18 passes through a fifth pivot hole, and the fifth pivot shaft 1802 of another pivot member 18 passes through another fifth pivot hole.

[0098] The central axis of the fourth pivot 1801 of one pivot 18 coincides with the central axis of the fourth pivot 1801 of another pivot 18. The central axis of the fifth pivot 1802 of one pivot 18 coincides with the central axis of the fifth pivot 1802 of another pivot 18.

[0099] by Figure 1 With reference to the placement angle and direction of the clamps, when the end effector 3 is fully open, the vertical distance between the distal ends of the first clamp arm 301 and the second clamp arm 302 is at its maximum. When the end effector 3 is fully closed, the vertical distance between the distal ends of the first clamp arm 301 and the second clamp arm 302 is at its minimum. The complete closure of the end effector 3 causes the clamp 403 between the first clamp arm 301 and the second clamp arm 302 to change from an open state to a fully closed state to clamp tissue or blood vessels.

[0100] refer to Figure 16 When the end effector 3 is fully open, the central axis of the fifth pivot shaft 1802 coincides with the central axis of the first pivot shaft 2011. When the rotating member 11 rotates, the closed tube 17 can rotate relative to the sleeve 16 around the central axis of the fifth pivot shaft 1802. At this time, the second pivot shaft 23 coincides with the central axis of the fifth pivot shaft 1802.

[0101] With the end effector 3 in a fully closed state, both the sleeve and the closing tube move distally, causing the central axis of the fourth pivot shaft 1801 to coincide with the central axis of the first pivot shaft 2011. When the rotating component 11 rotates, the closing tube 17 can rotate relative to the sleeve 16 around the central axis of the fourth pivot shaft 1801. At this time, the second pivot shaft 23 coincides with the central axis of the fourth pivot shaft 1801.

[0102] As mentioned above, the first pivot axis 22 is the central axis of the first pivot shaft 2011. When the end effector 3 is in the fully open and fully closed states, the first pivot axis 22 coincides with the second pivot axis 23.

[0103] In actual use, when the end actuator 3 is in a fully closed state, the clamp 403 inside the end actuator 3 has clamped the blood vessel or tissue, and the end actuator 3 has not detached from the blood vessel or tissue (the end actuator 3 will detach from the blood vessel or tissue only when it is opened). At this time, the end actuator 3 will generally not rotate. That is, when the end actuator 3 is in a closed state, the rotation of the rotating part 11 is generally not triggered, so the closed tube 17 does not rotate.

[0104] After the closed tube 17 rotates a certain angle relative to the sleeve 16, due to the provision of the pivot 18, when the sleeve 16 moves to the proximal or distal end, the sleeve 16 can still act on the closed tube 17 through the pivot 18 to drive the closed tube 17 to move to the proximal or distal end.

[0105] refer to Figure 1 , 15 The clamp also includes a rotating component 19. The rotating component 19 is fitted onto the sleeve 16 and fixedly connected to the sleeve 16. Thus, by rotating the rotating component 19, the sleeve 16 can be driven to rotate about the second longitudinal axis 25 of the rod assembly 2. When the sleeve 16 moves forward or backward, the rotating component 19 also moves forward or backward with the sleeve 16.

[0106] In this embodiment, the sleeve 16 and the closed tube 17 are pivotally connected by two pivot members 18, so that when the sleeve 16 rotates around the second longitudinal axis 25 of the rod assembly 2 under the drive of the rotating member 19, the sleeve 16 can drive the closed tube 17 to rotate. That is, by rotating the rotating member 19, the sleeve 16, the two pivot members 18 and the closed tube 17 all rotate.

[0107] For details, please refer to Figure 12-13 15-16, each pivot member 18 has a first plane 1803 adapted to the main shaft 201, and the distal end of the main shaft 201 has a second plane 2012 adapted to the first plane 1803. Thus, when the rotating member 19 rotates, causing the sleeve 16 to rotate and thus each pivot member 18 rotates, each first plane 1803 and its corresponding second plane 2012 engage, causing the main shaft 201 to rotate with the pivot member 18. That is, when the rotating member 19 rotates, causing each pivot member 18 to rotate, the pivot member 18 can exert a force on the main shaft 201 to drive the main shaft 201 to rotate around the second longitudinal axis 25 of the shaft assembly 2. This causes the main shaft 201 to drive the rotating member 11 to rotate, causing the closing tube 17 and the end effector 3 to rotate, thereby facilitating the doctor to adjust the end effector 3 to a suitable angle to clamp blood vessels or tissue. The end effector 3 rotates relative to the rod assembly 2 about the first pivot axis 22, so that the first longitudinal axis 24 of the end effector 3 is parallel to or at an angle to the second longitudinal axis 25 of the rod assembly 2. When the first longitudinal axis 24 of the end effector 3 is parallel to or at an angle to the second longitudinal axis 25 of the rod assembly 2, the pivot 18 can be rotated by rotating the rotating member 19 to drive the main shaft 201 to rotate, thereby causing the closed tube 17, the rotating member 11, and the end effector 3 to rotate.

[0108] In this embodiment, due to the limitation of the first transmission member 14, the second transmission member 15 cannot rotate around the second longitudinal axis 25 of the rod body assembly 2. In order to accommodate the rotation of the main shaft 201, in this embodiment, the second transmission member 15 is connected to the main shaft 201 through a connecting sleeve 20. Specifically, refer to... Figure 12-13 A connecting sleeve 20 is fitted onto the main shaft 201. A second transmission component 15 is fitted onto the connecting sleeve 20. The proximal end of a second connecting rod 13 is fixedly connected to the connecting sleeve 20. The second connecting rod 13 is disposed in the first groove of the main shaft 201. When the main shaft 201 rotates around the second longitudinal axis 25 of the rod assembly 2, it drives the second connecting rod 13 to rotate around the second longitudinal axis 25 of the rod assembly 2. Thus, the second connecting rod 13 drives the connecting sleeve 20 to rotate synchronously with the main shaft 201 around the second longitudinal axis 25 of the rod assembly 2. During the rotation of the connecting sleeve 20 around the second longitudinal axis 25 of the rod assembly 2, the second transmission component 15 does not rotate, that is, there is relative rotation between the connecting sleeve 20 and the second transmission component 15.

[0109] refer to Figure 17 The connecting sleeve 20 has a first stop 2001 at its distal end and a second stop 2002 at its proximal end. Both the first stop 2001 and the second stop 2002 extend circumferentially. A second transmission member 15 is disposed between the first stop 2001 and the second stop 2002. Thus, when the second transmission member 15 is displaced toward the distal or proximal end, it can act on the first stop 2001 or the second stop 2002, causing the connecting sleeve 20 to move toward the distal or proximal end, thereby causing the second connecting rod 13 to move toward the distal or proximal end.

[0110] exist Figure 1 , 4 In the middle, the clamp 4 is located at the upper end of the rotating part 11. The opening 1701 of the closed tube 17 faces upward. When the doctor uses the clamping forceps, he can... Figure 1 The angle of the clamp is considered as the initial state of the clamp, so that doctors can identify and become familiar with the rules for adjusting the angle of the end effector.

[0111] In actual use, by rotating the rotating part 19, the relative position between the end effector 3 and the operating component 1 changes continuously. As a result, the direction of rotation of the end effector 3 relative to the rod assembly 2 around the first pivot axis 22 also changes continuously. This means that in other angles of the clamping clamp, the first direction may not be clockwise and the second direction may not be counterclockwise.

[0112] refer to Figure 1 , 15 The clamp also includes a Luer connector 21, which is connected to the rotating member 19. In this embodiment, the Luer connector 21 is a common Luer connector in the prior art, which is used to connect the inside and outside of the clamp to facilitate cleaning of the inside of the clamp. The structure of the Luer connector 21 will not be described in detail here.

[0113] The sleeve 16 has a flushing hole that communicates with the interior of the sleeve 16. The Luer connector 21 has a flushing channel. The flushing channel has an inlet and an outlet. The outlet of the flushing channel communicates with the flushing hole of the sleeve 16. Flushing fluid is injected into the inlet of the Luer connector 21, allowing the flushing fluid to enter the interior of the clamp through the flushing channel and flushing hole to clean the interior of the clamp and remove contaminants, thus enabling the clamp to be reused. When the sleeve 16 moves forward or backward, the rotating member 19 also moves forward or backward with the sleeve 16, and therefore the Luer connector 21 also moves forward or backward accordingly. This prevents the Luer connector 21 from restricting the forward and backward movement of the sleeve 16 and ensures that the Luer connector 21 can always communicate with the flushing hole of the sleeve 16. In this embodiment, the flushing hole of the sleeve 16 is located inside the rotating member 19. The inlet of the flushing channel of the Luer connector 21 is located outside the rotating part 19, and the outlet of the flushing channel is located inside the rotating part 19 and communicates with the flushing hole of the sleeve 16.

[0114] refer to Figure 18-19 21. In this embodiment, the clamping chamber 4 includes at least two clamps 403. The clamping chamber 4 has a cavity to accommodate the clamps 403, and the clamps 403 are stacked within the cavity. The number of clamps 403 in the clamping chamber 4 is adjustable, and the number of clamps 403 does not affect the normal use of the clamping forceps. In actual use, the number of clamps 403 can be adjusted according to the usage requirements. During the operation, a continuous clamping process generally applies three clamps 403 to the clamped object; therefore, in this embodiment, the clamping chamber 4 includes three clamps 403.

[0115] The clamping chamber 4 includes a first cavity and a second cavity. Figure 3 , 18 -19. Taking the placement direction and angle of the clamp as a reference, the first cavity is positioned above the second cavity, and the first cavity is connected to the second cavity. The proximal end of the second cavity intersects with the proximal end face of the clamping chamber 4, forming the inlet 401 of the second cavity, and the distal end of the second cavity intersects with the distal end face of the clamping chamber 4, forming the outlet 402 of the second cavity.

[0116] The clamping chamber 4 has three clamps 403, which are arranged from top to bottom as clamp 4031, clamp 4032, and clamp 4033. Clamps 4031 and 4032 are located in the first cavity. Clamp 4033 is located in the second cavity. The clamping chamber 4 also includes a biasing component 404, which can apply a generally downward force to the upper end face of clamp 4031.

[0117] In this embodiment, the feed rod 8 is made of an elastic material, including but not limited to metal, making it flexible and capable of bending and deforming to accommodate the rotation of the clamping chamber 4. The main shaft 201 of the rod assembly 2 is provided with a second groove, in which the feed rod 8 is disposed and moves. In the initial state (i.e., before the feed rod 8 pushes the clamp 403 against the end actuator 3), the distal end of the feed rod 8 extends into the second cavity from the inlet 401. Therefore, when the clamping chamber 4 rotates relative to the rod assembly 2, the feed rod 8 also bends under the action of the clamping chamber 4 to accommodate its rotation.

[0118] refer to Figure 20 The distal end of the rotating member 11 has a pivot portion 1102. The first clamping arm 301 and the second clamping arm 302 of the end effector 3 are pivotally connected to the pivot portion 1102. The pivot portion 1102 has a channel 1103, the distal end of which leads between the first clamping arm 301 and the second clamping arm 302, and the proximal end of which communicates with the outlet 402 of the clamping chamber 4. Thus, under the action of the clamping rod 8, the clamp 403 of the clamping chamber 4 can enter between the first clamping arm 301 and the second clamping arm 302 through the channel 1103, and is supported between the first clamping arm 301 and the second clamping arm 302. By manipulating the wrench 101 of the operating component 1, the first clamping arm 301 and the second clamping arm 302 are closed, thereby closing the clamp 403 between the first clamping arm 301 and the second clamping arm 302 and applying it to the object being clamped. During the process of the clamp 403 moving from the cavity of the clamping chamber 4 to the end effector 3, the channel 1103 restricts the movement space of the clamp 403, so that the clamp 403 can move along a predetermined trajectory between the first clamp arm 301 and the second clamp arm 302, without deviating during the movement and being unable to move between the first clamp arm 301 and the second clamp arm 302.

[0119] See again Figure 18-19 When the feed rod 8 moves distally (i.e., forward) and pushes clamp 4033 against end effector 3, and after the feed rod 8 moves to achieve reset, under the action of biasing component 404, clamps 4031 and 4032 both move downward, allowing clamp 4032 to enter the second cavity so that clamping can continue. It should be noted that before the feed rod 8 pushes clamp 4033 against end effector 3 and moves to achieve reset, the feed rod 8 abuts against the bottom of clamp 4032, preventing clamps 4031 and 4032 from moving downward. However, when the feed rod 8 moves proximally (i.e., backward) to achieve reset, clamps 4031 and 4032 can move downward under the action of biasing component 404. The downward movement of clamps 4031 and 4032 under the action of biasing component 404 is... Figure 3 , 18-19 The placement angle and direction of the clamps are used as a reference. When the placement direction and angle of the clamps change, clamps 4031 and 4032 can still move into the second cavity under the action of the biasing component 404.

[0120] The biasing component 404 includes an elastic element. The elastic element abuts against the upper end of the clip 403, and is in a state of deformation to store energy, thereby applying a generally downward force to the clip 403. In this embodiment, the elastic element is a torsion spring. The torsion spring has a first torsion arm 4041 and a second torsion arm 4042. Without external force, the two torsion arms of the torsion spring will be in a naturally extended state. In the naturally extended state, both the first torsion arm 4041 and the second torsion arm 4042 are approximately along... Figure 21 The spring is positioned vertically. In this embodiment, the first torsion arm 4041 of the torsion spring is engaged in the clamping chamber 4, and the second torsion arm 4042 of the torsion spring rotates at a certain angle relative to its naturally extended state and then acts on the clamp 4031, thereby applying a force to the clamp 4031.

[0121] In this embodiment, the biasing component 404 further includes a push plate 4043. The second torsion arm 4042 of the torsion spring is connected to the push plate 4043. The torsion spring applies a force to the clamp 4031 through the push plate 4043, thereby increasing the force-bearing area and enabling the torsion spring to act more stably on the clamp 4031.

[0122] In this embodiment, the end effector 3 is connected to the outlet 402 of the second cavity of the clamping chamber 4. The second cavity is not coaxial with the rod assembly 2, so the end effector 3 is also not coaxial with the rod assembly 2. The end effector 3 is offset relative to the rod assembly 2, so the first longitudinal axis 24 of the end effector 3 and the second longitudinal axis 25 of the rod assembly 2 do not coincide.

[0123] refer to Figure 25-27 In order to drive the sleeve 16 and the feed rod 8 to move distally, the clamp in this embodiment also includes a transmission mechanism housed in the head housing 102. The transmission mechanism may have a first state and a second state. In the first state, the transmission mechanism drives the feed rod 8 to move distally; in the second state, the transmission mechanism drives the sleeve 16 to move distally.

[0124] Specifically, the transmission mechanism includes a switching mechanism, a first driving member 40, and a second driving member. The first driving member 40 is used to drive the clamping rod 8 to move to the distal end, and the second driving member is used to drive the sleeve 16 to move to the distal end.

[0125] The wrench 101 abuts against the switching mechanism to provide power to it, and the switching mechanism selectively transmits this power to either the first drive member 40 or the second drive member. The wrench 101 can drive the switching mechanism to move to a distal end. In the first state, the switching mechanism moves to a distal end to drive the first drive member 40 to move to a distal end. After the switching mechanism has moved to a distal end by a preset stroke, the transmission mechanism switches from the first state to the second state. When the transmission mechanism switches to the second state, the switching mechanism continues to move to a distal end to drive the second drive member to move to a distal end.

[0126] The first driving member 40 is an annular component. The first driving member 40 is sleeved on the main shaft 201 and can move along the main shaft 201. An annular retaining edge 41 is provided on the outer peripheral surface of the first driving member 40. The proximal end of the feeding rod 8 is connected to the first driving member 40, and the distal end of the feeding rod 8 can push the clamp 403.

[0127] The second driving component includes a seat 42, a first rod 43, and a second rod 44. The seat 42 is sleeved on the main shaft 201, and the distal end of the seat 42 is connected to the proximal end of the sleeve 16. The seat 42 has a first side and a second side opposite to the first side. A first connecting portion 4201 extends outward from the first side, and a second connecting portion 4202 extends outward from the second side. The first connecting portion 4201 is connected to the distal end of the first rod 43, and the second connecting portion 4202 is connected to the distal end of the second rod 44. Each rod is provided with a sliding groove 45, which is a closed groove, and a pushing portion 46 is provided at the distal end of each sliding groove 45.

[0128] The switching mechanism includes a base 51, a first clutch mechanism, and a second clutch mechanism. A wrench 101 abuts against the base 51 to provide power to the switching mechanism, causing it to move to a distal end.

[0129] When the transmission mechanism is in its first state, the base 51 is fitted onto the first driving member 40. The base 51 has a first side and a second side opposite to the first side. The first side of the base 51 is provided with a first sleeve portion 27, and the second side of the base 51 is provided with a second sleeve portion 28. The first sleeve portion 27 is fitted onto the first rod 43 and can move along the first rod 43, and the second sleeve portion 28 is fitted onto the second rod 44 and can move along the second rod 44. The first side of the base 51 is also provided with a first oblong hole 29, and the second side is also provided with a second oblong hole 30. The first oblong hole 29 is located above the first sleeve portion 27, and the second oblong hole 30 is located above the second sleeve portion 28. Each oblong hole extends in the vertical direction.

[0130] The first clutch mechanism includes a first clutch element and a clutch switching mechanism. The first clutch element is connected to the clutch switching mechanism. The second clutch mechanism includes a second clutch element.

[0131] The clamp head housing 102 includes a first head housing 1021 and a second head housing. The first head housing 1021 and the second head housing are symmetrically arranged along the axial direction of the main shaft 201.

[0132] The clutch switching mechanism includes a guide post 34 and a guide rail. The guide rail is disposed inside the head housing 102, and the guide post 34 can move on the guide rail. The guide post 34 is connected to the first clutch component.

[0133] The guide rail is selectively disposed on the inner wall of either the first head housing 1021 or the second head housing. To make the movement of the guide post 34 on the guide rail smoother, the guide rails are symmetrically disposed on the inner walls of the first head housing 1021 and the second head housing. That is, the inner wall of the first head housing 1021 is provided with a guide rail, and the inner wall of the second head housing is also provided with a guide rail.

[0134] The guide post 34 has a first end and a second end. The guide post 34 is housed in the base 51. The first end of the guide post 34 extends from the first oblong hole 29 and rests on a guide rail on the inner wall of the first head housing 1021. The second end of the guide post 34 extends from the second oblong hole 30 and rests on a guide rail on the inner wall of the second head housing. Because each oblong hole extends vertically, the guide post 34 can move vertically.

[0135] The guide rail includes a first guide surface 35 and a second guide surface 36. The second guide surface 36 is higher than the first guide surface 35. The guide post 34 is movable between the first guide surface 35 and the second guide surface 36.

[0136] The first clutch element is housed in the base 51. The first clutch element includes a column 31, a stop block 32, and a locking block 33. The upper end of the column 31 is connected to a guide column 34, allowing the column 31 to move the guide column 34 to a distal or proximal end, while the guide column 34 can move the column 31 up and down. The stop block 32 is located at the bottom end of the column 31. The locking block 33 is located at the bottom end of the stop block 32. The bottom end of the locking block 33 is detachably connected to the first driving member 40. The bottom end face of the locking block 33 is an arc-shaped surface that matches the surface of the first driving member 40, making the connection between the locking block 33 and the first driving member 40 more stable.

[0137] In the first state, the locking block 33 is located at the proximal end of the annular baffle, and the distal end face of the locking block 33 abuts against the proximal end face of the annular baffle 41. The locking block 33 can push the annular baffle 41 distally, causing the first driving member 40 to move distally. In the second state, the locking block 33 moves upward and disengages from the annular baffle 41.

[0138] The proximal end face of the locking block 33 is an inclined surface. Therefore, when the first driving member 40 and the first clutch member are reset, the proximal end face of the locking block 33 can pass through the far end of the annular baffle 41, so that the locking block 33 returns to the proximal end of the annular baffle.

[0139] The first clutch also includes a second elastic element 37, which is a spring. The second elastic element 37 is sleeved on the column 31, with its upper end abutting against the guide post 34 and its lower end abutting against the stop block 32. In the first state, the second elastic element 37 is in a compressed state, exerting a downward force on the stop block 32, making the locking block 33 more stably abut against the first driving member 40, and improving the stability of the first driving member 40 moving to the distal end.

[0140] The second clutch includes a first push post 38 and a second push post 39. The first push post 38 is located in the sliding groove 45 of the first rod 43 and can move in the sliding groove 45 of the first rod 43. Both the upper and lower ends of the first push post 38 are connected to the first sleeve portion 27.

[0141] The second push post 39 is located in the sliding groove 45 of the second rod 44 and can move in the sliding groove 45 of the second rod 44. Both the upper and lower ends of the second push post 39 are connected to the second sleeve part 28.

[0142] For the first driving member 40, when the transmission mechanism is in the first state, under the pushing action of the wrench 101, the base 51 moves to the distal end, causing the first clutch to move to the distal end, thereby pushing the first driving member 40 to move to the distal end to drive the clamping rod 8 to move to the distal end. The guide post 34 moves to the distal end along the first guide surface 35 under the action of the first clutch. When the guide post 34 moves from the first guide surface 35 to the second guide surface 36, the guide post 34 drives the first clutch to move upward, causing the locking block 33 of the first clutch to disengage from the annular retaining edge 41 of the first driving member 40, thus separating the first clutch from the first driving member 40. At this time, the transmission mechanism switches to the second state, and the first driving member 40 no longer moves to the distal end. In the second state, if the base 51 continues to move to the distal end, it will pass through the first driving member 40.

[0143] For the second driving member, when the transmission mechanism is in the first state, the first pusher 38 is separated from the pushing part 46 of the first rod 43, and the second pusher 39 is separated from the pushing part 46 of the second rod 44. At this time, the second driving member is not driven and is in a stationary state. Under the pushing action of the wrench 101, the base 51 moves to the distal end, causing the first pusher 38 to move to the distal end in the sliding groove 45 of the first rod 43 and gradually approach the pushing part 46 of the first rod 43, and the second pusher 39 to move to the distal end in the sliding groove 45 of the second rod 44 and gradually approach the pushing part 46 of the second rod 44. When the first pusher 38 abuts against the pushing part 46 of the first rod 43, and the second pusher 39 abuts against the pushing part 46 of the second rod 44, the transmission mechanism switches to the second state, and the second clutch drives the second driving member to move to the distal end, causing the sleeve 16 to move to the distal end to close the end actuator.

[0144] In summary, when the first driving member 40 separates from the first clutch member, the pushing part 46 of the second driving member comes into contact with the second clutch member.

[0145] The clamp also includes two third elastic elements 48. These third elastic elements 48 are springs. One third elastic element 48 is sleeved on the first rod 43, with its proximal end abutting against the first sleeve portion 27 and its distal end abutting against the first connecting portion 4201. The other third elastic element 48 is sleeved on the second rod 44, with its proximal end abutting against the second sleeve portion 28 and its distal end abutting against the second connecting portion 4202. As the switching mechanism moves towards the distal end, the first sleeve portion 27 gradually moves closer to the first connecting portion 4201, while the second sleeve portion 28 gradually moves closer to the second connecting portion 4202. The two third elastic elements 48 can be compressed to store and release first energy, allowing the switching mechanism to move towards the proximal end and reset.

[0146] The clamp also includes a fourth elastic element 49, which is a spring. The fourth elastic element 49 is sleeved on the main shaft 201. The proximal end of the fourth elastic element 49 abuts against the annular flange 41 of the first drive member 40, and the distal end of the fourth elastic element 49 abuts against a retaining ring 47 on the outside of the main shaft 201. The retaining ring 47 extends circumferentially along the main shaft 201 and is located near the second transmission member 15. During the process of the switching mechanism driving the first drive member 40 to move to the distal end, the annular flange 41 of the first drive member 40 gradually moves closer to the retaining ring 47, causing the fourth elastic element 49 to be compressed and store second energy. When the second energy is released, the first drive member 40 can move to the proximal end to reset, causing the clamping rod 8 to move to the proximal end to reset.

[0147] The clamp also includes a fifth elastic element 50, which is a spring. The fifth elastic element 50 is sleeved on the sleeve 16. The proximal end of the fifth elastic element 50 abuts against the distal end face of the seat 42, and the distal end of the fifth elastic element 50 abuts against the inner wall of the head housing 102. During the process of the switching mechanism driving the second driving member to move distally, the fifth elastic element 50 is compressed to store third energy. When the third energy is released, the second driving member can move proximally to reset, causing the sleeve 16 to move proximally to reset.

[0148] In summary, in this embodiment, in the locked state, the actuator 6 can only perform a first movement, preventing it from driving the drive mechanism to move. Consequently, the drive mechanism cannot drive the end effector 3 to rotate relative to the rod assembly 2. Even if the surgeon accidentally touches the end effector 3 during surgery, it will not cause the end effector 3 to rotate relative to the rod assembly 2, thus avoiding harm to the patient and improving the reliability and stability of the clamp. In the unlocked state, manipulating the actuator 6 causes the end effector 3 to rotate relative to the rod assembly 2. After the end effector 3 has rotated a certain angle relative to the rod assembly 2, the actuator 6 performs a third movement to switch to the locked state. Thus, the end effector 3 can no longer rotate but remains at that angle. This facilitates the surgeon's operation and prevents the surgeon from accidentally touching the end effector 3, causing it to rotate again and harm the patient.

[0149] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0150] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A clamping pliers, characterized in that, include: shaft assembly; An end effector, the end effector being pivotally connected to the shaft assembly such that the end effector rotates relative to the shaft assembly in response to a drive mechanism; A clamping chamber having clamps that can be applied to an object by the end effector; A drive mechanism drives the end effector to rotate relative to the rod assembly; An actuator having a locked state and an unlocked state, wherein in the locked state the actuator can only perform a first movement to switch to the unlocked state, and the actuator cannot perform a second movement, thereby preventing the end effector from rotating relative to the rod assembly; In the unlocked state, the actuator performs a second motion to drive the drive mechanism to move, thereby causing the end effector to rotate relative to the rod assembly; the first motion is a linear motion, and the second motion is a rotation.

2. The clamping pliers according to claim 1, characterized in that, In the unlocked state, the actuator also performs a third movement to switch it to the locked state.

3. The clamping forceps according to claim 1, characterized in that, In response to a force applied to the actuator, the actuator rotates, causing the end effector to rotate relative to the rod assembly.

4. The clamping pliers according to claim 1, characterized in that, The clamp further includes a locking member. In the locked state, the locking member limits the actuator so that the actuator can only perform the first movement. In the unlocked state, the locking member disengages from the actuator so that the actuator can perform the second movement.

5. The clamping pliers according to claim 4, characterized in that, The actuator has a protrusion, and the locking member has multiple grooves. In the locked state, the protrusion is operably held in one of the grooves, and in the unlocked state, the protrusion disengages from the groove in which it is located.

6. The clamping pliers according to claim 5, characterized in that, The plurality of grooves are arranged along the motion trajectory of the second movement of the actuator.

7. The clamping pliers according to claim 2, characterized in that, The clamping forceps also includes a reset member, which drives the actuator to perform the third movement so that the actuator switches from the unlocked state to the locked state and remains in the locked state.

8. The clamping pliers according to claim 7, characterized in that, The reset element includes an elastic element.

9. The clamping pliers according to claim 1, characterized in that, The drive mechanism includes a steering rod assembly and a transmission assembly. The steering rod assembly includes a first link and a second link pivotally connected. In response to a force applied to the transmission assembly by the actuator, the transmission assembly moves to drive the second link, thereby causing the first link to move to drive the end effector to rotate relative to the rod assembly.

10. The clamping pliers according to claim 9, characterized in that, The end effector is pivotally connected to the rod assembly via a rotating member, one end of which is pivotally connected to the rod assembly, and the other end of which is connected to the end effector.

11. The clamping pliers according to claim 10, characterized in that, The first connecting rod acts on the rotating component.

12. The clamping pliers according to claim 10, characterized in that, The rotating component is connected to the rod assembly via a first pivot point, and the first connecting rod is connected to the rotating component via a second pivot point, wherein the first pivot point and the second pivot point do not coincide.

13. The clamping pliers according to claim 1, characterized in that, In response to a force applied to the clamp, the clamp is conveyed from the clamping chamber to the end effector, whereby the end effector applies the clamp to the object being clamped.

14. The clamping forceps according to any one of claims 1 and 13, characterized in that, The end effector is pivotally connected to the rod assembly via a rotating member, and the clamp is detachably disposed on the rotating member; the rotating member includes a channel through which the clamp is conveyed from the clamp to the end effector.

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