An end effector instrument and method of operation

Abstract

This application provides an end effector that may include an end effector device and a delivery device. The clamping portion of the end effector device is fixed to tissue, and the delivery device can be used to deliver the end effector device to the designated location and retain the clamping portion in the tissue. Multiple end effectors are fixed to tissue at different locations, and at least one end effector device further includes a connecting portion that connects and pulls the multiple end effectors fixed at different locations, thereby opening the target location and solving the problem of submucosal visual field exposure.

Description

[0001] Case Analysis

[0002] This application is a divisional application of the patent application filed on December 1, 2021, with application number CN202111453840.X and entitled "An end effector and operating method". Technical Field

[0003] This application relates to the field of medical devices, and in particular to an end effector and its operating method. Background Technology

[0004] Endoscopic submucosal dissection (ESD) is a minimally invasive endoscopic technique that uses various electrocautery devices to dissect lesions larger than 2 cm from the submucosa. This technique allows for en bloc resection of larger lesions, provides accurate pathological diagnosis, and reduces local tumor recurrence rates, thus it is widely used in the treatment of gastrointestinal diseases. However, ESD is technically challenging, especially due to the narrow submucosal field of view, which poses significant difficulties and can even lead to complications such as bleeding and perforation. To complete complex ESD procedures, clinicians have attempted to use auxiliary traction devices to address the issue of submucosal exposure. Existing auxiliary traction devices include: anchor-assisted ESD, grasper-assisted ESD, thin endoscope-assisted ESD, transoral traction-assisted ESD, cannula-assisted ESD, medical rings, and clamp traction devices. While these devices can provide a better submucosal field of view to some extent, ensuring the successful completion of ESD and reducing bleeding and perforation, their overall effectiveness still does not meet clinical needs. For example, while the traction device method commonly used by clinicians can solve the problem of submucosal field of view exposure to a certain extent, it also brings new risks: First, the traction device connected to one of the clamping arms cannot retract into the tubular component, and the traction device exposed outside the clamping part may damage the endoscope channel or digestive tract mucosa during the process of entering the body cavity; Second, the traction device exposed outside the clamping part increases the overall size of the clamping part, which hinders the bending performance when passing through the tortuous endoscope forceps channel; Third, the traction device fixed to one clamping arm has uneven tension transmitted to the clamping part during the traction process, which can easily cause the traction clamp fixed to the tissue to fall off prematurely. Summary of the Invention

[0005] This application provides an end effector, comprising: an end effector device including a first clamping portion and a connecting portion; the first clamping portion including a receiving tube and at least two clamping arms, the receiving tube having a first channel, the proximal ends of the clamping arms being retractable into the first channel; a delivery device including a sheath, the sheath and the receiving tube being releasably connected; the connecting portion including a fixed end and a free end, the fixed end being fixedly connected to the receiving tube, the free end being used to connect to a second clamping portion; the connecting portion further including an elastic portion, the elastic portion being retractable between the clamping arms, or the elastic portion being sleeved on the distal end of the sheath or the proximal end of the receiving tube.

[0006] In some embodiments, the free end and / or the fixed end is a hook or a loop, and the elastic part is a spring.

[0007] In some embodiments, the free end and the fixed end are integrally formed with the elastic part, or the free end and / or the fixed end are manufactured separately and fixed to the elastic part by welding, bonding or other connection methods.

[0008] In some embodiments, the fixed end is disposed in a first plane, and the free end is disposed in a second plane, wherein the first plane and the second plane are perpendicular to each other.

[0009] In some embodiments, the distal end of the storage tube is provided with a fixing part, and the fixing end is fixedly connected to the fixing part.

[0010] In some embodiments, the fixing part includes a fixing hole and a pin passing through the fixing hole.

[0011] In some embodiments, the fixing part is integrally formed with the storage tube, and the fixing part is formed by flanging the distal end of the storage tube.

[0012] In some embodiments, the elastic portion may be housed between the clamping arms, and when the clamping arms are closed, the distance between the clamping arms is greater than the radial dimension of the elastic portion.

[0013] In some embodiments, the clamping arm spacing gradually decreases from the proximal end to the distal end.

[0014] In some embodiments, the radial dimension of the elastic portion gradually decreases from the proximal end to the distal end.

[0015] In some embodiments, the near end of the storage tube is provided with a hanging groove, and the fixed end is hung in the hanging groove.

[0016] In some embodiments, the elastic portion is sleeved on the distal end of the sheath, the elastic portion has a third channel, the distal end of the sheath is housed in the third channel, and the spacing of the third channel is greater than the radial dimension of the distal end of the sheath.

[0017] In some embodiments, the elastic portion is sleeved inside the distal end of the sheath, the distal end of the sheath has a second channel, the proximal end of the elastic portion is housed in the second channel, and the spacing between the second channels is greater than the radial dimension of the elastic portion.

[0018] In some embodiments, the elastic part is sleeved on the receiving tube, the elastic part has a third channel inside, the receiving tube is received in the third channel, and the spacing of the third channel is greater than the radial dimension of the receiving tube.

[0019] In some embodiments, the elastic part is sleeved inside the receiving tube, the receiving tube has a first channel, the elastic part is received in the first channel, and the spacing of the first channel is greater than the radial dimension of the elastic part.

[0020] In some embodiments, the storage tube further includes a locking groove, and the clamping arm is provided with a locking part. The locking part and the locking groove cooperate with each other, and the clamping arm remains closed. When the cooperation between the locking part and the locking groove is released, the clamping arm can be reopened.

[0021] In some embodiments, an operation method of an end-effector includes: a first clamping part and a connecting part reaching a first position through an endoscope channel, and then the first clamping part being fixed at the first position; a second clamping part connecting to the connecting part, and then the second clamping part being fixed at a second position, at which time the connecting part undergoes elastic deformation, and a pulling effect occurs between the first clamping part and the second clamping part, so that the target position is fully exposed; a cutting tool performing a cutting operation at the target position; and finally, the fixing relationship between the first clamping part and the first position and the fixing relationship between the second clamping part and the second position are respectively released.

[0022] In some embodiments, the first clamping portion and the connecting portion reach a first position through the endoscope channel, including: the first clamping portion includes clamping arms that remain closed; the connecting portion includes a fixed end, a free end, and an elastic portion that is elastic, the fixed end being fixedly connected to the first clamping portion, the elastic portion being housed between the clamping arms and the distal end of the clamping arms being fixed to the free end, or the elastic portion being sleeved on the distal end of the sheath or the receiving tube.

[0023] In some embodiments, fixing the first clamping portion to the first position includes: the first clamping portion being released from the delivery device, the first clamping portion being fixed to the first position, and the delivery device being withdrawn from the endoscope clamp channel; the connecting portion includes a free end and an elastic portion having elasticity, the elastic portion and the free end being exposed outside the first clamping portion.

[0024] In some embodiments, the second clamping portion is connected to the connecting portion, including: the connecting portion includes a free end, and the clamping arm of the second clamping portion is connected to the free end.

[0025] In some embodiments, fixing the second clamping part to the second position includes: the second clamping part being released from the delivery device, the delivery device being withdrawn from the endoscope channel; the first clamping part fixed to the first position being subjected to a pulling force toward the second position, thereby fully exposing the field of view of the target position.

[0026] In some embodiments, releasing the fixed relationship between the first clamping part and the first position and the second clamping part and the second position includes: the first clamping part and the second clamping part include a locking part and a locking groove, and the locking part and the locking groove are disengaged by a disassembly tool, thereby releasing the fixed relationship between the first clamping part and the first position and the second clamping part and the second position. Attached Figure Description

[0027] This application will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0028] Figure 1 This is an overall structural diagram of the end effector shown in some embodiments of this application;

[0029] Figure 2 for Figure 1 Enlarged view of A;

[0030] Figure 3 for Figure 2 Enlarged view of B;

[0031] Figure 4 This is an overall structural diagram of the connecting portion shown in some embodiments of this application;

[0032] Figure 5 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 1 ;

[0033] Figure 6This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 2 ;

[0034] Figure 7 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 3 ;

[0035] Figure 8 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 4 ;

[0036] Figure 9 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 5 ;

[0037] Figure 10 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 1 ;

[0038] Figure 11 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 2 ;

[0039] Figure 12 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 3 ;

[0040] Figure 13 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 4 ;

[0041] Figure 14 This is a schematic diagram of the operation of an end effector according to some embodiments of this application. Figure 5 ;

[0042] Figure 15 This is an overall structural diagram of the end effector shown in some embodiments of this application;

[0043] Figure label:

[0044] 100. End actuation device; 100A. First clamping part; 100A'. Second clamping part; 110, 110'. Clamping arms; 120, 120'. Storage tube; 121. First channel; 122. Fixing hole; 123. Pin; 124, 124'. Hanging groove; 125, 125'. Locking groove; 130. Connecting part; 131. Fixed end; 132. Free end; 133. Elastic part; 134. Third... Channel, 140, locking part, 200, conveying device, 210, 210', distal end of sheath, 211, second channel, 220, 220', sheath body, 230, handle, 300, disassembly tool, 400, traction mechanism, 410, first position, 420, second position, 500, cutting tool, 600, target position, D, clamp arm spacing, H1, third channel spacing, L1, radial dimension of distal end of sheath. Detailed Implementation

[0045] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0046] It is understood that the terms "proximal" and "distal" in this application can refer to orientation, meaning along the length of the end effector (because the end effector 100 is to be inserted into the human body for ligation via the delivery device 200, which is usually a long linear device) or along the direction in which the end effector 100 enters the human body. The side facing the operator is "proximal," and the side facing the end effector 100 for treatment is "distal." "Proximal" and "distal" should not be understood as referring only to the end.

[0047] This application discloses an end effector. This end effector can be used in ESD surgery to address the problem of submucosal field exposure. In some embodiments, the end effector may include an end effector device and a delivery device. Exemplarily, the end effector device can be used to clamp human tissue for local fixation, and the delivery device can be used to deliver the end effector device to a first location within the patient's body, leaving a first clamping portion of the end effector device in place at the tissue at the first location to maintain fixation at that location. Multiple end effectors are fixed to the tissue, and at least one end effector device further includes a connecting portion that connects and pulls the multiple end effectors fixed to different tissues, thereby opening up the target tissue located near the first location, thus resolving the problem of submucosal field exposure.

[0048] In some embodiments, the connecting portion includes an elastic portion. The elastic portion undergoes elastic deformation during the fixation and traction process of multiple clamping portions, allowing the amplitude and range of the expansion at the target position to be adjusted according to actual needs; and because the elastic portion is elastic, it can maintain the traction process for a longer period of time, facilitating subsequent surgical operations.

[0049] In some embodiments, before the end effector reaches the first position, the elastic portion of the connector can be housed between the two clamping arms, meaning that no other parts are exposed at the distal or lateral end of the end effector, so that the traction device will not damage the endoscopic passage or the gastrointestinal mucosa during entry into the body cavity.

[0050] In some embodiments, before the end effector reaches the first position, the elastic part of the connector is sleeved on the distal end of the sheath, and the distal end of the sheath and the end effector are connected. That is, no other parts are exposed at the distal or lateral end of the end effector, so the traction device will not damage the endoscope channel or the mucosa of the digestive tract during the process of entering the body cavity.

[0051] In some embodiments, before the end effector reaches the first position, the elastic part of the connector is fitted onto the receiving tube. Regardless of whether the end effector and the delivery device have completed release, the movement of the receiving tube and the connector remains consistent. No other parts are exposed at the distal or lateral end of the end effector. Therefore, the traction device will not damage the endoscope channel or the mucosa of the digestive tract during entry into the body cavity.

[0052] In some embodiments, the fixed end of the connecting part is fixedly connected to the storage tube of the first clamping part. When the storage tube is subjected to a pulling force in a certain direction, it will evenly transmit the pulling force to all clamping arms, so as to avoid the phenomenon that the clamping arm will fall off prematurely due to uneven pulling force on a certain clamping arm.

[0053] In some embodiments, the first clamping part is fixed in the first position through a locking relationship between the clamping arm and the storage tube. The locking relationship between the clamping arm and the storage tube is safely removed by a disassembly tool to avoid secondary damage to the tissue caused by violent removal, while also ensuring that subsequent surgical operations are not affected.

[0054] like Figure 1 As shown, the end-effector includes an end-effector 100 and a delivery device 200. After the end-effector 100 and the delivery device 200 are released, the end-effector 100 is fixed to the tissue and temporarily remains in the human body to assist in the next surgical operation, and the delivery device 200 is withdrawn from the endoscopic forceps channel.

[0055] like Figures 2-4As shown, the end effector 100 includes a first clamping part 100A and a connecting part 130. The first clamping part 100A includes two clamping arms 110 and a receiving tube 120, which has a first channel 121. When the first clamping part 100A is in the closed state, the distal ends of the clamping arms 110 are close to each other, and the proximal ends of the clamping arms 110 are stored in the first channel 121. When the first clamping part 100A is in the open state, the clamping arms 110 move from the proximal end to the distal end, and the distal ends of the clamping arms 110 separate from each other. The fixing part of the receiving tube 120 consists of a fixing hole 122 at the distal end of the receiving tube and a pin 123 passing through the fixing hole 122. The pin 123 passes through the hanging ring of the fixing end 131, that is, the pin 123 fixes the fixing end 131 to the receiving tube 120.

[0056] like Figure 1 As shown, the conveying device 200 also includes a distal sheath 210, a sheath body 220 fixedly connected to the distal sheath 210, and a handle 230 connected to the proximal end of the sheath body 220. The distal sheath 210 and the receiving tube 120 are releasably connected. The handle 230 controls the opening, closing, locking, and releasing states of the first clamping part 100A.

[0057] like Figures 2-4 As shown, the connecting part 130 includes a fixed end 131 and a free end 132, and an elastic part 133 disposed between the fixed end 131 and the free end 132. The elastic part 133 is a spring, and its radial dimension is H1. The fixed end 131 and the free end 132 are hanging rings. The fixed end 131 is fixedly connected to the storage tube 120, and the free end 132 is used to connect to the second clamping part 100A'. Figure 2 As shown, when the first clamping part 100A is in the closed state, the clamping arm 110 passes through the hanging ring of the free end 132, and the clamping arm distance D between the clamping arms 110 is greater than the radial dimension H1 of the elastic part 133, so that the elastic part 133 is housed between the clamping arms 110.

[0058] like Figure 4 As shown, the fixed end 131 is located on the first plane, and the free end 132 is located on the second plane. The first plane and the second plane are perpendicular to each other. As the first clamping part 100A and the second clamping part 100A' approach the tissue from the same direction through the endoscopic forceps channel in sequence, the pin 123 is perpendicular to the clamping arm 110, and the fixed end 131 connected to the pin 123 and the free end 132 connected to the clamping arm 110 are perpendicular to each other, which makes it convenient for the second clamping part 100A' to connect the free end 132 at a more suitable angle.

[0059] It should be noted that in some embodiments, the fixing part of the receiving tube 120 is integrally formed with the receiving tube 120, that is, the fixing part of the receiving tube 120 is formed by flanging the distal end of the receiving tube 120; that is, during the assembly of the end actuator, the fixing end 131 of the connecting part 130 is first placed in the first channel 121 of the receiving tube 120, and then the fixing end 131 is fixedly connected to the receiving tube 120 by the flanging process of the distal end of the receiving tube 120. Therefore, the fixing end 131 of the connecting part 130 only needs to meet the requirement of connecting with the receiving tube 120, and there is no restriction on the connection process or connection method.

[0060] It should be noted that in some embodiments, the elastic part 133 may also be configured as other elastic structures, including but not limited to springs, or the elastic part 133 itself may be composed of elastic material. It should also be noted that in some embodiments, the fixed end 131 and the free end 132 may be configured as hooks or other structures, which only need to be connected and fixed with the corresponding storage tube 120 and the second clamping part 100A'.

[0061] It should be noted that in some embodiments, the fixed end 131 and the free end 132 are integrally formed with the elastic part, or the free end 131 and / or the fixed end 132 are manufactured separately and fixed to the elastic part 133 by welding, bonding or other connection methods.

[0062] It should be noted that in some embodiments, when the first clamping part 100A is in the closed state, the clamp arm spacing D gradually decreases from the proximal end to the distal end. This is determined by the clamp arm structure so that the proximal end of the clamp arm can accommodate more tissue. Correspondingly, the radial dimension of the elastic part 133 accommodated between the clamp arms 110 gradually decreases from the proximal end to the distal end, and the clamp arm spacing D between the clamp arms 110 is greater than the radial dimension H1 of the elastic part 133. Before the clamp arms 110 open to clamp the tissue, the elastic part 133 is accommodated between the clamp arms 110. When the clamp arms 110 clamp the tissue, the tissue capacity accommodated between the clamp arms is increased, making the fixation of the first clamping part 100A to the tissue more secure.

[0063] like Figures 2-9 As shown, the operation method of the end effector in some embodiments is described.

[0064] The first clamping part 100A and the connecting part 130 reach the first position 410 through the endoscope channel:

[0065] like Figure 2As shown, the control handle 230 controls the clamping arm 110 to close. The fixed end 131 of the connecting part 130 is fixedly connected to the storage tube 120. The elastic part 133 of the connecting part 130 is stored between the clamping arms 110. The distal ends of the two clamping arms 110 pass through the hanging ring of the free end 132 to temporarily fix the clamping arms 110 and the free end 132. During the movement of the end-effector through the endoscope channel and before approaching the target position, since the connecting part 130 is completely stored in the end-effector 100, the connecting part 130 enters the endoscope channel along the movement trajectory of the first clamping part 100A. No other parts are exposed outside the first clamping part 100A, so the endoscope channel or digestive tract mucosa will not be damaged.

[0066] like Figure 5 As shown, the first clamping part 100A of the end effector 100 is transported to the first position 410 by the transport device 200 through the endoscope channel. The control handle 230 controls the clamping arm 110 to open, and the free end 132 of the connecting part 130 is released from between the clamping arms 110. That is, the connecting part 130 is fixedly connected to the receiving tube 120 only through the fixed end 131. The free end 132 and the elastic part 133 of the connecting part 130 can be displaced after being subjected to force.

[0067] The first clamping part 100A is fixed at the first position 410:

[0068] like Figure 6 As shown, the clamping arm 110 of the end effector 100 gradually closes to fix the clamping arm 110 in the first position 410. The free end 132 and / or the elastic part 133 contact the tissue in the first position 410, so that the free end 132 and the elastic part 133 can be displaced after being subjected to force, that is, the free end 132 and the elastic part 133 shift from between the clamping arms 110, and the tissue in the first position 410 is gradually collected between the clamping arms 110. Figure 7 As shown, after the clamping arm 110 of the tissue clamping 410 closes, the first clamping part 100A is fixed in the first position 410. The locking part 140 provided at the clamping arm 110 moves from the distal end to the proximal end of the clamping arm 110 to the locking groove 125 provided at the receiving tube 120. The locking part 140 and the locking groove 125 cooperate to lock the clamping arm 110 and the receiving tube 120, so that the clamping arm 110 cannot be reopened, thereby fixing the first clamping part 100A to the first position 410. The distal end 210 of the control sheath and the receiving tube 120 are released, thereby releasing the delivery device 200 and the end actuator 100. After the end actuator 100 and the delivery device 200 are released, the first clamping part 100A is fixed in the first position 410 and temporarily remains in the human body to assist in the next surgical operation, and the delivery device 200 is withdrawn from the endoscopic forceps channel.

[0069] The second clamping part 100A' is connected to the connecting part 130:

[0070] like Figure 8 As shown, the second clamping part 100A' approaches the free end 132 through the endoscope clamping channel, and the clamping arm 110' of the second clamping part 100A' passes through the hanging ring of the free end 132 to realize the connection between the clamping arm 110' of the second clamping part 100A' and the free end 132.

[0071] The second clamping part 100A' is fixed at the second position 420, and the target position 600 is fully exposed:

[0072] like Figure 9 As shown, after the clamping arm 110' of the second clamping part 100A' is connected to the free end 132, the clamping arm 110' of the second clamping part 100A' is fixed at the second position 420. At this time, the fixed end 131 of the connecting part 130 and the first clamping part 100A are fixed, and the free end 132 of the connecting part 130 is fixed to the second clamping part 100A'. The elastic part 133 provided between the free end 131 and the free end 132 is pulled by the first clamping part 100A and the second clamping part 100A', and the elastic part 133 undergoes elastic deformation under the stretching action. The first clamping part 100A fixed at the first position 410 is subjected to a pulling force in the direction of the second position 420, so that the tissue at the target position 600 near the first position 410 is stretched open, thereby solving the problem of exposure of the submucosal target position 600 and facilitating the cutting tool 500 to perform cutting operations at the target position 600.

[0073] The cutting tool 500 performs a cutting operation at the target position 600, thereby releasing the fixed relationship between the first clamping part 100A and the first position 410 and the fixed relationship between the second clamping part 100A' and the second position 420 respectively:

[0074] like Figure 9 As shown, after cutting tool 500 completes the tissue cutting operation at the target location 600, tool 300 is disassembled (attached). Figure 9The disassembly tool 300 (a snare) approaches the first clamping part 100A and the second clamping part 100A' through the endoscope clamping channel, sequentially releasing the fixed relationship between the first clamping part 100A and the first position 410, and the fixed relationship between the second clamping part 100A' and the second position 420. The disassembly tool 300 is fitted into the locking groove 125, and the disassembly tool 300 applies pressure to the locking part 140 along the direction FF shown in the figure, causing the locking part 140 to elastically contract and withdraw from the locking groove 125, thereby releasing the mutual cooperation between the locking part 140 and the locking groove 125, releasing the locking relationship between the clamping arm 110 and the receiving tube 120, that is, the clamping arm 110 can be reopened, and the disassembly tool 300 completes the release of the fixed relationship between the first clamping part 100A and the first position 410; repeating the above operation, the disassembly tool 300 completes the release of the fixed relationship between the second clamping part 100A' and the second position 420. The locking relationship between the first clamping part 100A and the second clamping part 100A' is released by the disassembly tool 300, so that the fixed relationship between the first clamping part 100A and the first position 410 and the fixed relationship between the second clamping part 100A' and the second position 420 are safely released, avoiding secondary damage to the tissue caused by violent removal (such as forcibly pulling the closed clamping arm off the tissue, which will damage the tissue and surrounding tissue; failure to remove it safely will affect subsequent endoscopic operations).

[0075] like Figures 10-14 As shown, the structure and operation method of the end effector in some embodiments are described. In some embodiments, such as Figure 10 As shown, the storage tube 120 has a hanging groove 124 near its end, and the fixed end 131 of the connecting part 130 is sleeved in the hanging groove 124 and fixedly connected to the storage tube 120.

[0076] In some embodiments, such as Figure 10 As shown, the elastic part 133 of the connecting part 130 is provided with a third channel 134, and the distal end 210 of the sheath tube passes through the third channel 134 and is releasably connected to the proximal end of the receiving tube 120; the spacing H1 of the third channel 134 is greater than the radial dimension L1 of the distal end 210 of the sheath tube; that is, before the end actuator and the conveying device are released, the distal end 210 of the sheath tube is provided in the third channel 131 of the elastic part 133; after the end actuator and the conveying device are released, the distal end 210 of the sheath tube is disengaged from the third channel 131 of the elastic part 32, and the fixed relationship between the elastic part 133 and the distal end 210 of the sheath tube is released.

[0077] The first clamping part 100A and the connecting part 130 reach the first position 410 through the endoscope channel:

[0078] like Figure 10As shown, the control handle 230 controls the clamp arm 110 to close, and the fixed end 131 of the connecting part 130 is hooked into the hook groove 124 of the receiving tube 120, and the fixed end 131 and the receiving tube 120 are fixedly connected; the distal end 210 of the sheath is located in the third channel 131 of the elastic part 133, and the elastic part 133 and the distal end 210 of the sheath can be released; during the movement of the endoscope channel and before the end actuator 100 and the delivery device 200 are released, the end actuator will not damage the endoscope channel or the digestive tract mucosa because the connecting part 130 is fixed by the end actuator.

[0079] It should be noted that the elastic part 133 and the free end 132 of the connecting part 130 are externally located at the distal end of the sheath. The elastic part 133 is composed of a helical spring and extends along the axial direction of the sheath 220. That is, before the end-effector 100 and the delivery device 200 are released and separated, the connecting part 130 moves along the movement trajectory of the end-effector, and the axially extending elastic part 133 has elastic bending properties, allowing it to move freely within the curved cavity of the endoscope along with the sheath 220. The radial dimensions of the elastic part 133 and the free end 132 located outside the sheath are controllable, and the overall radial dimension of the end-effector is smaller than the radial dimension of the endoscope channel, thus not affecting the passage of the end-effector with the connecting part 130 within the endoscope channel.

[0080] The first clamping part 100A is fixed at the first position 410:

[0081] like Figure 11 As shown, the first clamping part 100A of the end effector 100 is transported to the first position 410 by the transport device 200 through the endoscope channel. The control handle 230 controls the clamping arm 110 to open, and the clamping arm 110 can freely clamp and fix the tissue at the first position 410.

[0082] like Figure 12 As shown, after the clamping arm 110 of the clamping tissue 410 closes, the first clamping part 100A is fixed in the first position 410. The locking part 140 provided at the clamping arm 110 moves from the distal end to the proximal end of the clamping arm 110 to the locking groove 125 provided at the storage tube 120. The locking part 140 and the locking groove 125 cooperate with each other to lock the clamping arm 110 and the storage tube 120, so that the clamping arm 110 cannot be reopened, thereby fixing the first clamping part 100A in the first position 410. The distal end 210 of the control sheath and the receiving tube 120 are released. The distal end 210 of the control sheath is withdrawn from the third channel of the elastic part 133. At the same time as the delivery device 200 and the end actuator 100 are released, the elastic part 133 and the distal end 210 of the control sheath are also released. After the end actuator 100 and the delivery device 200 are released, the end actuator 100 is fixed to the tissue and temporarily remains in the human body to assist the next surgical operation. The delivery device 200 is withdrawn from the endoscopic forceps channel.

[0083] The second clamping part 100A' is connected to the connecting part 130:

[0084] like Figure 13 As shown, the second clamping part 100A' approaches the free end 132 through the endoscope clamping channel, and the clamping arm 110' of the second clamping part 100A' passes through the hanging ring of the free end 132 to realize the connection between the clamping arm 110' of the second clamping part 100A' and the free end 132.

[0085] The second clamping part 100A' is fixed at the second position 420, and the target position 600 is fully exposed:

[0086] like Figure 14 As shown, after the clamping arm 110' of the second clamping part 100A' is connected to the free end 132, the clamping arm 110' of the second clamping part 100A' is fixed at the second position 420. At this time, the fixed end 131 of the connecting part 130 and the first clamping part 100A are fixed, the free end 132 of the connecting part 130 and the second clamping part 100A' are fixed, and the elastic part 133 disposed between the free end 131 and the free end 132 is pulled by the first clamping part 100A and the second clamping part 100A', and the elastic part 133 undergoes elastic deformation under tension. The first clamping part 100A fixed at the first position 410 is subjected to a pulling force toward the second position 420, which causes the tissue at the target position 600 near the first position 410 to be stretched, thereby solving the problem of exposure of the submucosal target position 600 and facilitating the cutting tool 500 to perform cutting operations at the target position 600.

[0087] The cutting tool 500 performs a cutting operation at the target position 600, thereby releasing the fixed relationship between the first clamping part 100A and the first position 410 and the fixed relationship between the second clamping part 100A' and the second position 420 respectively:

[0088] like Figure 14 As shown, after cutting tool 500 completes the tissue cutting operation at the target location 600, tool 300 is disassembled (attached). Figure 14The disassembly tool 300 (a snare) approaches the first clamping part 100A and the second clamping part 100A' through the endoscope clamping channel, and sequentially locks and disassembles the first clamping part 100A and the second clamping part 100A'. The disassembly tool 300 is fitted into the locking groove 125, and the disassembly tool 300 applies pressure to the locking part 140 along the direction FF shown in the figure, causing the locking part 140 to elastically contract and withdraw from the locking groove 125, thereby releasing the mutual cooperation between the locking part 140 and the locking groove 125, and releasing the locking relationship between the clamping arm 110 and the receiving tube 120, that is, the clamping arm 110 can be reopened, and the disassembly tool 300 completes the release of the fixed relationship between the first clamping part 100A and the first position 410; repeating the above operation, the disassembly tool 300 completes the release of the fixed relationship between the second clamping part 100A' and the second position 420. The locking relationship between the first clamping part 100A and the second clamping part 100A' is released using the disassembly tool 300, thus safely releasing the fixed relationship between the first clamping part 100A and the first position 410 and the fixed relationship between the second clamping part 100A' and the second position 420. This avoids secondary damage to the tissue caused by violent removal (for example, forcibly pulling the closed clamping arm off the tissue will damage the tissue and surrounding tissue; failure to remove it safely will affect subsequent endoscopic operations). It should be noted that in some embodiments (not shown in the figure), the elastic part and the free end of the connecting part may be internally disposed in the distal channel of the sheath. The distal end 210 of the sheath is provided with a second channel 211. The proximal end of the elastic part 133 of the connecting part 130 passes through the second channel 211 of the distal end 210 of the sheath. The distal end 210 of the sheath and the receiving tube 120 are releasably connected. The spacing of the second channel 211 is greater than the radial dimension of the elastic part 133. That is, before the end actuator and the conveying device are released, the elastic part 133 is provided in the second channel 211 of the distal end 210 of the sheath. After the end actuator and the conveying device are released, the elastic part 133 is disengaged from the second channel 211 of the distal end 210 of the sheath, and the fixed relationship between the elastic part 133 and the distal end 210 of the sheath is released.

[0089] It should be noted that in some embodiments, the first clamping part includes a locking part 140 disposed on the clamping arm 110 and a locking groove 125 disposed on the receiving tube 200. When the clamping arm 110 moves from the distal end to the proximal end to the locking groove 125, the locking part 140 and the locking groove 125 cooperate to lock the clamping arm 110 and the receiving tube 120, making the clamping arm 110 unable to reopen. When the cooperation between the locking part 140 and the locking groove 125 is released, the clamping arm 110 can reopen. The locking part 140 may be disposed on the clamping arm or may be other structures connected to the clamping arm; the locking groove may be disposed on the receiving tube or may be other structures connected to the receiving tube; that is, the cooperation between the locking part and the locking groove is sufficient to lock the clamping arm and the receiving tube, including but not limited to the locking cooperation methods listed in the embodiments.

[0090] It should be noted that in some embodiments, such as Figure 15 As shown, the elastic portion 133 of the connecting portion 130 is sleeved on the receiving tube 120, that is, the elastic portion 133 is sleeved on the outside of the receiving tube 120 in the form of a helical spring. The fixed end 131 of the connecting portion 130 passes through the connecting hole 122 located at the far end of the receiving tube 120, and the fixed end 131 is fixedly connected to the receiving tube 120 by a pin 123. A third channel is provided inside the elastic portion 133 of the connecting portion 130, and the receiving tube 120 passes through the third channel. The spacing of the third channel is greater than the radial dimension of the receiving tube 120. When the elastic portion 133 is subjected to tensile force and elastically deforms, the spacing of the helical springs constituting the elastic portion 133 increases, and the axial dimension of the elastic portion 133 extends along the axial direction of the receiving tube 120. In some embodiments, the maximum axial dimension of the stretched elastic portion 133 does not exceed the axial dimension of the receiving tube, so that the connecting portion 130 does not hinder the disassembly tool from releasing the engagement between the locking groove 125 and the locking portion 140 located near the receiving tube. Alternatively, in some embodiments, the maximum axial dimension of the stretched elastic portion 133 exceeds the axial dimension of the receiving tube. However, since the helical spring spacing of the stretched elastic portion 133 is large enough, the appropriate helical spring spacing provides operating space for the disassembly tool and does not hinder the subsequent release of the engagement between the locking groove 125 and the locking portion 140 located near the receiving tube.

[0091] It should be noted that in some embodiments, the elastic part 133 is sleeved inside the receiving tube 120 (not shown in the figure), and the fixed end 131 of the connecting part 130 passes through the connecting hole 122 located at the far end of the receiving tube 120, and the fixed end 131 is fixedly connected to the receiving tube 120 by the pin 123; the receiving tube 120 is provided with a first channel, and the elastic part 133 is housed in the first channel, and the spacing of the first channel is greater than the radial dimension of the elastic part 133.

[0092] It should be noted that in some embodiments, the disassembly tool can be a snare, a second clamping part, pliers, or other tools capable of applying disassembly force, including but not limited to the specific disassembly tools listed above, as long as the locking relationship between the clamping arm and the storage tube is released.

[0093] It should be noted that in some embodiments, the structures of the first clamping part and the second clamping part may be the same or different, as long as they satisfy the functions of fixing the tissue and connecting with the connecting part, including but not limited to the structures listed in the embodiments.

[0094] It should be noted that in some embodiments, the number of cooperating first clamping parts can be two or more. The surgeon can select different numbers of first clamping parts to complete the tissue fixation and traction functions according to the actual situation, including but not limited to the number of first clamping parts listed in the embodiments.

[0095] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0096] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0097] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

Claims

1. An end effector, comprising: A first end effector includes a first clamping part and a connecting part. One end of the connecting part is fixedly connected to the first clamping part. The first clamping part includes clamping arms. The connecting part includes a fixed end, a free end, and an elastic part. The fixed end is fixedly connected to the first clamping part. The elastic part is housed between the clamping arms, and the distal end of the clamping arms is fixed to the free end. The device also includes a conveying device. The first clamping part is releasably connected to the conveying device. The first clamping part is fixed at a first position. The first clamping part is configured to be releasably fixed at the first position. The fixed relationship between the first clamping part and the first position can be released by a disassembly tool.

2. The end effector according to claim 1, characterized in that, The first clamping part further includes a receiving tube, and the conveying device includes a sheath tube. The sheath tube and the receiving tube are releasably connected, and the first clamping part is fixed at the first position.

3. The end effector according to claim 1, characterized in that, It also includes a second end effector, which includes a second clamping part, which includes a second clamping arm, and the second clamping arm is connected to the free end.

4. The end effector according to claim 3, characterized in that, The second clamping part can reach and be fixed in the second position, the elastic part undergoes elastic deformation, and the first clamping part fixed in the first position is subjected to a pulling force in the direction toward the second position.

5. The end effector according to claim 1, characterized in that, The first clamping part includes a locking part and a locking groove. The disassembly tool releases the interlocking relationship between the locking part and the locking groove, thereby releasing the fixed relationship between the first clamping part and the first position.

6. The end effector according to claim 5, characterized in that: The disassembly tool is fitted onto the locking groove and applies pressure to the locking part. The locking part elastically contracts and withdraws from the locking groove, thereby disengaging the locking part from the locking groove.

7. The end effector according to claim 4, characterized in that, The second clamping part includes a second locking part and a second locking groove. The disassembly tool releases the cooperation between the second locking part and the second locking groove, thereby releasing the fixed relationship between the second clamping part and the second position.

8. The end effector according to claim 7, characterized in that: The disassembly tool is fitted onto the second locking groove and applies pressure to the second locking part. The second locking part elastically contracts and withdraws from the second locking groove, thereby disengaging the cooperation between the second locking part and the second locking groove.

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