Self-actuating gripping device

Abstract

A self-actuated grasping device and a corresponding method for retrieving a foreign body from a location within a patient using the grasping device. The grasping device comprises a handle with a self-actuating mechanism, an actuator coupled to an actuator line on the handle, an elongated shaft member extending distally from the handle, and opposing jaws at the distal end of the elongated shaft member, wherein the actuator line is coaxially disposed within the elongated shaft member, and the opposing jaws are coupled to the actuator line and pivot between an open configuration and a closed configuration. The self-actuating mechanism has a biasing member that applies a closing force to the opposing jaws via the actuator line, and actuation of the actuator is configured to apply an opening force to the opposing jaws via the actuator line.

Description

[0001] Related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 048,289, filed July 6, 2020. Priority of that application is expressly claimed, and its entire disclosure is incorporated herein by reference. Technical Field

[0003] The present invention relates to a device for controlling or treating body tissues that obstruct hollow body cavities, such as prostatic lobe tissue obstructing the urethra. Background Technology

[0004] The prostate is a walnut-shaped gland that surrounds the urethra through which urine flows from the bladder and plays a crucial role in the male reproductive system. Although the gland starts small, it tends to enlarge as men age. An overly enlarged prostate leads to a condition called benign prostatic hyperplasia (BPH). BPH refers to an abnormal but non-malignant (non-cancerous) growth of the prostate gland that is very common in older men. BPH is a chronic condition and is associated with the development of urinary outflow obstruction or narrowing of the prostatic urethral lumen. Bladder outlet obstruction (BOO) refers to a blockage at the base of the bladder that reduces or prevents urine from flowing into the urethra and may be secondary to BPH. It can lead to a range of related symptoms collectively known as lower urinary tract symptoms (LUTS), including voiding or obstructive symptoms such as difficulty urinating, incomplete urination and / or intermittent urinary flow, straining to urinate, prolonged voiding time, incomplete bladder emptying, terminal dribbling, etc., and storage or irritative symptoms such as urinary frequency, urgency, urge incontinence, and nocturia. These symptoms can also cause sexual dysfunction, urinary retention, urinary leakage, and urinary tract and bladder infections, which can worsen as the abnormal growth of the prostate progresses.

[0005] While traditional surgical interventions are possible, less invasive techniques involve implanting a device within the prostatic urethra designed to increase its diameter. Placement of a prostate implant involves a urologist inserting a small device into the prostatic urethra, which has narrowed due to the enlargement of prostatic tissue. Once in place, the implant is designed to expand and push out tissue lobes to help keep the urethra open, while preventing the enlarged prostatic tissue from completely impacting and opening the urethra. Ideally, prostate implants eliminate the need for surgical removal of prostate tissue and are expected to reduce the risks of hematuria, catheterization, sexual dysfunction, and incontinence—risks inherent and traditional for even less invasive surgical methods. Because the implant can be removed and additional surgical treatment can be performed in the future, the procedure can also be designed to be reversible. Removal of prostate implants, such as stents or prostate tissue dilators, is typically accomplished using a grasper that is inserted, along with a sheath, through the working lumen of a cystoscope, as described in co-pending U.S. Patent Application No. 17 / 109,814, filed December 4, 2020, the entire disclosure of which is incorporated herein by reference. In cases where direct imaging with a cystoscope is used, the cystoscope is inserted through the sheath, and both are inserted into the urethra as a system. The user uses the grasper to hold the implant in place and pull it into the sheath. In other cases, the grasper can be used to retrieve other types of foreign bodies from the urinary tract, including foreign bodies causing obstruction or blockage in the urethra, bladder, ureters, and kidneys, such as stones or gallstones. It should also be understood that the grasper can be used in minimally invasive procedures to remove such foreign bodies from other parts of the body, including, but not limited to, the pancreas, esophagus, gallbladder, kidneys, etc.

[0006] For embodiments of grippers configured for use during urological procedures to remove stents or tissue dilators, the gripper is flexible, with an outer diameter of approximately 2-3 mm or less, depending on the required compatibility with a particular flexible or rigid cystoscope. These characteristics can be adjusted as required for other procedures or other parts of the body. Conventionally available grippers rely on push-pull handle drive mechanisms, such as the prior art example shown in Figure 1. To actuate the distal jaws and grasp a foreign object, the user must pull the thumb handle to open the distal jaws and push to close them. Typically, the gripper jaws are free and can be in either an open or closed position. If the user wants to continuously hold the jaws in the closed position, i.e., after securing a tissue dilator or any foreign object, the user must apply a constant forward pressure to the handle, which is undesirable for the user. For example, this requirement may increase hand fatigue and / or limit the operator's ability to perform procedures during clinical surgery, leading to undesirable consequences. Sometimes an assistant or second user is required to operate the gripper and hold it in the closed position to minimize fatigue. Clinical surgery often requires two operators with coordinated movements to grasp and retrieve foreign objects, prolonging the procedure and increasing resource usage. Accordingly, it would be beneficial to provide a self-actuating grasper that remains locked after grasping the foreign object, reducing hand fatigue and enabling a single operator to retrieve the object from the urinary tract, urinary system, or other parts of the body. The technology disclosed herein addresses these and other needs. Summary of the Invention

[0007] This disclosure relates to a gripping device having a handle with a self-actuating mechanism, an actuator coupled to an actuator line on the handle, an elongated shaft member extending distally from the handle, and opposing jaws at the distal end of the elongated shaft member, wherein the actuator line is coaxially disposed in the elongated shaft member, the opposing jaws are coupled to the actuator line and pivot between an open configuration and a closed configuration. The self-actuating mechanism has a biasing member that applies a closing force to the opposing jaws via the actuator line, and actuation of the actuator is configured to apply an opening force to the opposing jaws via the actuator line.

[0008] In one aspect, the self-actuating mechanism may be a plunger coupled to an actuator line and disposed within the cylinder of a handle, wherein the plunger is spring-biased to apply a closing force. The spring may be a compression spring, such that the plunger is biased in a proximal direction, and the closing force is a retraction force applied to the actuator line. The actuator may be configured to apply an opening force in a distal direction when the user applies a distal force to the actuator. Alternatively, the actuator may be configured to apply an opening force in a distal direction when the user applies a retraction force to the actuator.

[0009] In one aspect, the extension of the actuator can be connected to the plunger via a rotating link that reverses the direction of the force applied by the actuator.

[0010] In one respect, the actuator can be configured to increase the closing force when a force is applied to the actuator in the opposite direction to the direction associated with the opening force.

[0011] In one aspect, the spring is a tension spring, which biases the plunger in the distal direction, and the closing force is a force applied to the distal end of the actuator line. The actuator can be configured to apply an opening force in the retraction direction.

[0012] In one aspect, the gripping device also has an adapter configured to provide direct connection to a cystoscope or other imaging equipment or apparatus used in the medical procedure. The adapter may have a cylindrical extension that is telescopically disposed within the main body, thereby allowing adjustment of the gripping device's position relative to the cystoscope to accommodate different cystoscope lengths or to fix the gripper's position relative to foreign objects and the cystoscope. The cylindrical extension may be configured to lock in the adjusted position. The adapter may also have a flushing port.

[0013] This disclosure also includes a method for retrieving a foreign body from a location within a patient's body. The method may include providing a gripping device having a handle with a self-actuating mechanism, an actuator coupled to an actuator line on the handle, an elongated shaft member extending distally from the handle, and opposing jaws at the distal end of the elongated shaft member, wherein the actuator line is coaxially disposed within the elongated shaft member, and the opposing jaws are coupled to the actuator line and pivot between an open configuration and a closed configuration. The gripping device may be advanced through the lumen of a medical device until the opposing jaws are adjacent to the foreign body. An opening force may be applied to the opposing jaws via the actuator line using the actuator. When the jaws are in the open configuration, the foreign body may be positioned within the range of the jaws. A closing force may be applied to the opposing jaws using the self-actuating mechanism to secure the foreign body. The gripping device may then be withdrawn to retrieve the foreign body.

[0014] In one aspect, the self-actuating mechanism is biased such that a closing force is applied to the opposing jaws, and when no force is applied to the actuator, the opposing jaws remain closed in an independent state.

[0015] In one aspect, applying an opening force with an actuator can include applying a distal force to the actuator.

[0016] In one respect, the opening force can be applied to the actuator line by applying a force in the opposite direction to the actuator.

[0017] In one respect, the closing force applied by the self-actuating mechanism can be increased by applying a force to the actuator.

[0018] In one aspect, the gripping device can be directly connected to a cystoscope or other imaging or medical device using an adapter. The adapter can be telescopically adjusted to set the desired position of the gripping device relative to the cystoscope or other imaging or medical device, and the adapter can be locked in that position.

[0019] In one respect, the foreign body can be located in the patient's prostatic urethra, bladder, urinary tract, or urinary system. The foreign body can be an implant. Attached Figure Description

[0020] As illustrated in the accompanying drawings, further features and advantages will become apparent from the following and more specific description of preferred embodiments of the present disclosure, wherein the same reference numerals generally refer to the same parts or elements throughout the drawings, and wherein:

[0021] Figure 1 shows an example of a prior art gripper.

[0022] Figure 2 An isometric view of a self-actuating gripper according to one embodiment is schematically depicted.

[0023] Figure 3 A cross-sectional view of a self-actuating gripper according to one embodiment is schematically depicted.

[0024] Figure 4 A detailed view of the distal end of a self-actuating gripper according to one embodiment is schematically shown.

[0025] Figure 5 An overview of a self-actuating gripper, showing exemplary dimensions, is schematically depicted according to one embodiment.

[0026] Figure 6 A detailed view of the handle end of another self-actuating gripper according to one embodiment is schematically depicted.

[0027] Figure 7 The proximal portion of another self-actuating gripper, directly connected to a cystoscope according to one embodiment, is schematically depicted.

[0028] Figure 8 An exploded detail view of a self-actuating gripper according to one embodiment is schematically depicted.

[0029] Figures 9A-9C schematically depict detailed views of the distal end of a self-actuating gripper in an open and closed configuration according to one embodiment. Detailed Implementation

[0030] First, it should be understood that this disclosure is not limited to the materials, constructions, routines, methods, or structures of the specific examples, as they can vary. Therefore, although many such options similar to or equivalent to those described herein may be used in practice or embodiments of this disclosure, preferred materials and methods are described herein.

[0031] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments of this disclosure only and is not restrictive.

[0032] The detailed description set forth below with reference to the accompanying drawings is intended to describe exemplary embodiments of the present disclosure and is not intended to imply that only exemplary embodiments of the present disclosure may be practiced. The term "exemplary" as used throughout this detailed description means "serving as an example, instance, or illustration" and is not necessarily to be construed as being preferred or superior to other exemplary embodiments. The detailed description includes specific details intended to provide a thorough understanding of exemplary embodiments of the present specification. It will be apparent to those skilled in the art that exemplary embodiments of the present specification may be practiced without these specific details.

[0033] For convenience and clarity only, directional terms such as top, bottom, left, right, up, down, above, above, below, under, behind, back, and front may be used relative to the accompanying drawings. These and similar directional terms should not be construed as limiting the scope of this disclosure in any way.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Furthermore, as used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural indicators unless expressly provided otherwise.

[0035] Regarding the orientation of the various structural and anatomical references described herein, the terms “proximal” and “distal” are relative to the perspective of a medical professional (e.g., a urologist) who is manipulating the delivery system of the present invention to deploy the implant described herein; thus, those features of the delivery system held by the urologist’s hand are located at the “proximal” end, and the assembled system and implant, initially in their compressed configuration, are located at the “distal” end of the delivery system.

[0036] As described above, the technical feature of the present invention is a gripper with an automatic locking function. The handle includes a self-actuating mechanism to automatically apply gripping force to the jaws at the distal end of the device, thereby reducing or eliminating the need for the user to apply the aforementioned constant forward pressure, a feature of prior art grippers. In particular, the gripper embodying the features of the present invention employs a self-actuating mechanism to close and maintain the distal jaws closed.

[0037] To help illustrate various aspects of the invention, Figure 2 The isometric view schematically depicts the handle and self-actuating mechanism at the proximal end of an exemplary gripper. As shown, the gripper 10 has a handle 12 at its proximal end, which includes a thumb ring 14 and a plunger 16 extending coaxially into a cylinder 18. The thumb ring 14 is an actuable element triggered by the user, and other embodiments may employ different configurations, such as sliders, levers, buttons, or other configurations known in the art. An elongated shaft member 20 extends distally from the handle 12. A flange 22 provides elements that can be gripped by a user and facilitate manipulation and use of the gripper 10, particularly when engaging the thumb ring 14 or other actuators. Furthermore, Figure 3 The handle 12 is schematically depicted in cross-sectional view to show details of the self-actuating mechanism. Specifically, the plunger 16 is coupled to the actuator line 24 at a connector 26. In the depicted embodiment, this connector 26 is a friction fit, but any suitable attachment can be used. The actuator line 24 extends coaxially to the distal end of the gripper 10 via a shaft member 20, as described below. The handle 12 is configured to allow the user's thumb to rest in the thumb ring 14 and the user's fingers to wrap around the flange 22. The self-actuating mechanism is driven by a compression spring 28, one end of which is fixed to the distal end of the plunger 16, and the other end to the cylinder 18. Therefore, this self-actuating mechanism causes the plunger 16 to transmit a retraction force to the actuator line 24. Conversely, pressing the thumb ring 14 while holding the flange 22 overcomes the retraction force applied by the spring 28. If needed, the thumb ring 14 can be secured to the plunger 16 via a snap-fit ​​connector 30, allowing partial disassembly and / or reassembly of the handle 12 for packaging, sterilization, or other purposes. Alternatively, any other suitable attachment device can be used, including permanent attachment, or the thumb ring 14 and plunger 16 can be an integral structure. The proximal end 32 of the shaft member 20 may include features such as a flange to aid in securing and positioning the shaft member 20 relative to the cylinder 18. Now turn to Figure 4A detailed view of the distal end of the gripper 10 is shown, in which opposing jaws 34 are connected at an intermediate position by a scissor-like pivot 36 and can be switched between an open and closed configuration. An actuator line 24 is coupled to the proximal end 38 of the jaws 34, such that the retraction force is the closing force, and when applied to the actuator line 24, it pivots the jaws 34 to the closed position, while the application of the distal force is the opening force, and when applied to the actuator line 24, it pivots the jaws 34 to the open position as shown. As will be understood, the force of the spring 28 is directly related to the clamping force of the jaws 34. The user can selectively increase the closing pressure by manually pressing down the thumb ring 14 while holding the flange 22, as needed. It should also be understood that this design can be adapted to use a distal force opposite to the retraction force to drive the closing jaws 34 by replacing the compression spring 28 with a tension spring 28. With this modification, the spring 28 still automatically provides the closing force, and the user can apply the opening force by retracting the thumb ring 14.

[0038] Ideally, the shaft member 20 is thin, flexible, and supple, yet strong enough to facilitate forward movement without kinking, while also providing sufficient columnar strength to transmit force through the actuator line 24. In one embodiment, the shaft member 20 is formed from a reinforced polymer extrusion. For example, the polymer extrusion may be made of materials such as PEBA (polyether block amide), polytetrafluoroethylene (PTFE), etc. The extrusion may also be a multilayer structure using different polymers or the same polymer but with different hardness. The reinforcement may be metallic, such as stainless steel, nickel-titanium, etc., or polymeric, such as PEEK (polyether ether ketone), nylon, etc. The reinforcement may be arranged in a coil or braided pattern and may not necessarily extend along the entire length of the shaft member 20. Alternatively, the shaft member 20 may be constructed solely of extruded polymer. The shaft member 20 may also have a liner along its inner diameter to reduce friction with the actuator line 24, which may be made of PTFE, nylon, or other materials with a low coefficient of friction. The shaft member 20 may also be coated with an additional lubricating or hydrophilic material on its outer diameter to facilitate propulsion through the urinary tract or other locations in the body. A suitable wall thickness for the shaft member 20 is 0.001-0.025 inches, or more preferably 0.003-0.015 inches. In one embodiment, a suitable size for the gripper 10 may be as follows: Figure 5 As shown, however, it should be recognized that these dimensions can be modified as needed to suit the intended application.

[0039] Based on the above disclosure, it should be understood that during an illustrative example of operating the gripper 10, the user manipulates the handle 12 to advance the shaft member 20 to a desired position within the patient's body, for example, by proximally positioning the jaws 34 near a foreign object to be removed (e.g., an implant located in the urethra). The user can then press the thumb ring 14 while gripping the flange 22 to overcome the bias of the spring 28 and open the jaws 34. Further advancement of the shaft member 20 can then position the foreign object within the range of the jaws 34. Next, releasing the pressure on the thumb ring 14 allows the spring 28 to attempt to return to its original length, applying a retraction force to the actuator line 24 and accordingly pivoting the jaws 34 toward the closed position to grasp the foreign object. The aforementioned self-actuating mechanism maintains this force or pressure and holds the gripper 10 in the closed position until the user releases this pressure by retracting the thumb ring 14 again. This design minimizes the need to apply constant pressure to the actuation methods used on currently available grippers and reduces user hand fatigue. It should be understood that the self-actuating mechanism is not limited to a spring-driven design. Those skilled in the art can also achieve similar results using a cam mechanism or similar mechanism. The described self-actuating gripper 10 is capable of achieving a gripping force between 1 and 20 Newtons, or more preferably between 1 and 5 Newtons, approximately perpendicular to the jaws 34, depending on the mechanism, jaw geometry, and the spring constant of the compression spring 28. Once a prostate implant, prostate tissue dilator, or foreign body is gripped, the self-actuating gripper 10 is capable of withstanding a withdrawal force between 5 and 50 Newtons, or more preferably between 5 and 20 Newtons, applied longitudinally along the axis of the shaft member 20.

[0040] In another embodiment, the gripper 40 is in Figure 6 The diagram schematically illustrates similar elements using the same reference numerals. In this embodiment, the self-actuating mechanism is configured such that the user applies a retraction force to open the jaws 34. Here, the plunger 42 is coupled to the actuator line 24 and is entirely contained within the body 44 of the handle 12. Similar to the previous embodiment, the plunger 42 is biased in the proximal direction by a spring 28, thereby providing a closing force to the jaws 34 (not shown in this view). To reverse the direction of the force applied by the user, the plunger 42 is connected to the extension 46 of the thumb ring 14 via a rotating link 48. Thus, the user applies a retraction force to the thumb ring 14 as an opening force. Different leverage ratios of the force applied to the thumb ring 14 can be obtained by changing the gear size in the rotating link 48. As in the previous embodiment, when the direction of the force applied by the user is reversed in this configuration, the user can increase the closing force by manually retracting the thumb ring 14. Furthermore, modifications similar to the aforementioned embodiments can be achieved by replacing the compression spring with a tension spring. Furthermore, the spring automatically provides the closing force, while the user can apply the opening force by pressing the thumb ring 14.

[0041] In yet another embodiment, the gripper 50 is in Figure 7 The diagram schematically illustrates and includes an adapter for direct connection to a cystoscope. The handle 12 can incorporate any of the self-actuating mechanisms discussed above, although a first embodiment is shown. An extension 52 of the barrel 18 is telescopically and coaxially disposed within the body 54 of the cystoscope adapter 55. As previously described, a shaft member 20 extends from the barrel 18 and coaxially passes through the extension 52. The body 54 of the adapter 55 features a Luer locking ring 56 at its distal end for connection to the cystoscope, and an irrigation line can be coupled to the gripper 50 via an irrigation connector 58. The telescopic arrangement of the extension 52 of the barrel 18 and the body 54 of the adapter 55 allows the relative positioning of the gripper 50 with respect to the cystoscope to be adjusted to accommodate different designs. Once the appropriate position is achieved within the cystoscope, the gripper 50 can be secured relative to the cystoscope. Notably, the embodiment shown here is characterized by rack-like teeth 62 along the outer diameter of the extension 52. A locking lever 60 is pivotally connected to the body 54, and a corresponding rack-like tooth 62 is biased by a compression spring 64 to engage with teeth on the extension 52. When the user presses down the locking lever 60, the length of the extension 52 of the cylinder 18 disposed within the body 54 of the adapter 55 is telescopically adjustable, and when the locking lever 60 is released, the spring 64 pivots the lever 60 and engages the teeth 62 with the teeth on the extension 52 to fix the relative position of the gripper 50 and the cystoscope. Other suitable techniques may be used to lock the extension 52 within the body 54 to the desired extent, such as friction chucks or clamps, a pressable protrusion engaging one of a plurality of longitudinally distributed holes along the body 54, or other methods known to those skilled in the art.

[0042] In yet another embodiment, the handle 12 and the self-actuating mechanism at the proximal end of the exemplary gripper 10 combine to provide a safety feature to prevent damage to the distal jaw 34 assembly during transport and storage. Figure 2-4 As shown, it includes a thumb ring 14 connected to the plunger 16, shaft member 20, and triggered by a compression spring 28. (Reference) Figure 8 These components are assembled and held in place by threaded inserts 71, retaining screws 72, release pins 73, spring pins 74, and fairings (or covers) 75. Release pin 73 locks spring 28 in a compressed configuration and protects the gripper 10 in its packaged state during transport and storage prior to use. Locking spring 28 prevents damage to the pin joint between the jaws 34 at the distal end of shaft member 20, as shown in Figure 9. Before use, the user presses release pin 73, and spring 28 freely applies force to shaft member 20, which triggers thumb ring 14 to move proximally to the user and close the gripper jaws 34. To use the gripper, the user squeezes thumb ring 14 distally, which compresses spring 28, shortens the distance between handle 12 and thumb ring 14, and opens jaws 34.

[0043] Figure 9 shows a detailed view of the distal end of another embodiment of the self-actuated gripper 10 in a fully open state (as shown in Figure 9A) and a fully closed state (as shown in Figures 9B and 9C). In this embodiment, the opposing jaws 34 may be smooth without serrated teeth. The absence of serrations on the inner surfaces of the jaws 34 provides a larger gap between the opposing jaws 34 and can aid in securing and retrieving expander implants, stents, or foreign bodies. The jaws 34 are also designed with features at their ends for interlocking and securing expanders, implants, or other foreign bodies. One jaw 34 has a protrusion at its end in the middle, and the opposing jaw 34 has a groove that interlocks with the protrusion. Note that in the closed state, there is a degree of gap or opening between the interlocking jaws 34 in the fully closed state. The gap between the jaws 34 enhances the gripper 10's ability to firmly grasp and lasso or retrieve expanders, implants, or any other foreign bodies from the body.

[0044] As can be understood from the above discussion and figures, the self-actuating gripper design of the present invention, among other suitable applications, can be used to assist in the retrieval of foreign bodies, including stents, dilators or other implants, or naturally occurring deposits such as stones or calculi, from the prostatic urethra, bladder, ureter, kidney, urinary tract, or urinary system. By employing the technology of the present invention, such a gripper can exhibit many beneficial characteristics, including but not limited to: 1) the ability to firmly grasp the foreign body for easy retrieval; 2) non-invasiveness to the urethra and other anatomical structures during foreign body removal; 3) compatibility with commonly used flexible and rigid cystoscopes, other medical imaging equipment, and auxiliary medical devices used in medical procedures; 4) the ability to self-actuate for automatic locking and, as needed, unlocking; 5) the ability to rotate axially, for example, by means of sufficient torque transmission, to rotate to a position engaging the foreign body for retrieval; 6) the ability to allow continuous imaging, flushing through the working channel of the cystoscope as needed during the retrieval process; and 7) sufficient locking force during the retrieval process to firmly hold the foreign body without loss.

[0045] The exemplary embodiments disclosed above are intended only to illustrate various uses of this disclosure. It should be understood that many modifications, variations and combinations of the functional elements and features of this disclosure are possible in accordance with the above teachings. Therefore, within the scope of the appended claims, this disclosure may be practiced in a manner different from the specific disclosure, and the principles of this disclosure may be readily extended by appropriate modifications to other applications.

[0046] All patents and publications are incorporated herein by reference to the extent that each individual publication is specifically and individually indicated as incorporated herein by reference. It should be understood that although this disclosure has been specifically disclosed through preferred embodiments and optional features, modifications and variations of the concepts disclosed herein may be adopted by those skilled in the art, and such modifications and variations are considered to be within the scope of this disclosure.

Claims

1. A gripping device, comprising: handle; The actuator on the handle is connected to an actuator line; An elongated shaft member extending distally from the handle, wherein the actuator line is coaxially disposed in the elongated shaft member; A plunger disposed within the cylinder of the handle and extending coaxially into the cylinder, the plunger being connected to an actuator line; as well as Opposing jaws at the distal end of the elongated shaft member, the opposing jaws being coupled to the actuator line and pivoting between an open configuration and a closed configuration, The plunger is fixed to a spring biased at the distal end of the plunger to apply a closing force to the opposing jaws via the actuator line, the closing force being sufficient to maintain the opposing jaws in a closed configuration, and wherein actuation of the actuator is configured to apply an opening force to the opposing jaws via the actuator line, the opening force being sufficient to overcome the closing force applied by the spring and pivot the opposing jaws to an open configuration.

2. The gripping device of claim 1, wherein, The spring is a compression spring that biases the plunger in a proximal direction, and the closing force is a retraction force applied to the actuator line.

3. The gripping device as claimed in claim 2, wherein, The actuator is configured to apply the opening force in the distal direction when the user applies a distal force to the actuator.

4. The gripping device of claim 2, wherein, The actuator is configured to apply the opening force in the distal direction when the user applies a retraction force to the actuator.

5. The gripping device of claim 1, wherein, The extension of the actuator is connected to the plunger via a rotating link that reverses the direction of the force applied by the actuator.

6. The gripping device of claim 1, wherein, The actuator is configured to increase the closing force when a force is applied to the actuator in the opposite direction to the opening force.

7. The gripping device of claim 1, wherein, The spring is a tension spring, which biases the plunger in the distal direction, and the closing force is a distal force applied to the actuator line.

8. The gripping device of claim 7, wherein, The actuator is configured to apply the opening force in the retraction direction.

9. The gripping device of claim 1, further comprising an adapter configured to provide direct connection to a cystoscope.

10. The gripping device of claim 9, wherein, The adapter includes a cylindrical extension that is telescopically disposed within the main body, thereby allowing adjustment of the position of the gripping device relative to the cystoscope.

11. The gripping device of claim 10, wherein, The cylindrical extension is configured to be locked in the adjusted position.

12. The gripping device of claim 9, wherein, The adapter also includes a flushing port.

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