A magnetic gripper

Abstract

This invention provides a magnetic grabbing forceps, which includes a magnetic ureteral stent and magnetic grabbing forceps. The magnetic grabbing forceps include a forceps body extending distally, a transmission mechanism connected to the forceps body, and a forceps head structure connected to the transmission mechanism. The forceps body drives the left and right clamps to switch between a closed and an open state through the transmission mechanism. The forceps head structure includes a forceps head base, a left and a right clamp rotatably connected to the forceps head base, and a second magnetic component connected to the forceps head base. After the jaws switch from a closed to an open state, the second magnetic component, under the rebound force of the elastic component, causes the second magnetic component to retract into the jaws.

Description

Technical Field

[0001] This invention relates to a magnetic gripper. Background Technology

[0002] Ureteral stents are widely used in urological surgery, applicable to procedures such as kidney stone removal, ureteral stone removal, kidney transplantation, and lithotripsy. Typically, ureteral stents must be removed within 1-6 months of implantation, usually via endoscopic removal in an outpatient operating room. However, endoscopes are rigid instruments, and endoscopic removal undoubtedly increases patient discomfort and inconvenience, especially for men. The male urethra is longer and more curved, and a rigid endoscope can cause significant damage and bleeding to the urethra and bladder, increasing patient suffering and the risk of urinary tract infections. Furthermore, endoscopic removal of the ureteral stent under local anesthesia in the operating room, combined with postoperative anti-inflammatory treatment, is expensive, adding to the patient's financial burden. Currently, in clinical practice, endoscopists primarily remove implanted ureteral stents using instruments such as foreign body forceps. The location of the ureteral stent is usually observed using an endoscope, and then foreign body forceps are used to extend from the lumen of the endoscope to the location of the ureteral stent, thereby removing the ureteral stent from the urinary tract.

[0003] The magnetic ureteral stent removal devices disclosed in authorization announcements CN201810249725 and CN201220033517 rely solely on magnetic force to attract and remove the ureteral stent. This type of magnetic approach suffers from insufficient magnetic force, making separation between the removal device and the stent common during removal. This necessitates repeated insertion into the urethra, increasing urethral damage, prolonging surgery time, and adding to patient discomfort. Ureteral stents, with their dual functions of support and drainage, are primarily used as adjunctive treatment for urolithiasis to reduce...

[0004] Ureteral stents can alleviate various benign and malignant obstructions, promote ureteral recovery, and treat urinary extravasation. Ureteral stenting has become a routine procedure in modern urological surgery and is widely used in hospitals both domestically and internationally.

[0005] Ureteral stents typically need to be removed within 1-6 months after implantation, usually via cystoscopy in an outpatient operating room. However, a cystoscope is a rigid instrument, and removing the stent through it undoubtedly increases patient discomfort and inconvenience, especially for men. Because the male urethra is longer and more curved, the rigid cystoscope can cause significant damage and bleeding to the urethra and bladder, increasing patient suffering and the risk of urinary tract infections. Even with conventional foreign body forceps, there are still instances of inadequate gripping and dislodgement. Prolonged treatment and the risk of secondary dislodgement increase the difficulty and risk of treatment, affecting efficiency and potentially causing further harm to the patient.

[0006] To address this, many techniques propose installing magnets or magnetic materials on the ureteral stent and then using magnetic attraction by installing corresponding magnets on a flexible catheter. However, such magnetic solutions suffer from insufficient magnetic force and poor stability. During the removal of the ureteral stent, the removal device is prone to separation from the stent, requiring the stent to be re-absorbed. This necessitates repeated insertion into the urethra, increasing urethral damage, prolonging the operation time, and increasing the patient's surgical pain. Summary of the Invention

[0007] This invention provides a magnetic gripper, comprising a gripper body extending distally, a transmission mechanism connected to the gripper body, and a gripper head structure connected to the transmission mechanism. The gripper body drives the left and right grippers to switch between a closed and an open state via the transmission mechanism. The gripper head structure includes a gripper head base, a left and a right gripper rotatably connected to the gripper head base, and a magnetic attraction assembly connected to the gripper head base. A jaw is formed between the left and right grippers, and the jaw has a closed and an open state. The magnetic attraction assembly includes an elastic element and a second magnetic element. One end of the elastic element is connected to the gripper head base, and the other end is connected to the second magnetic element. The elastic element is configured to withstand axial tension. When the jaw is in the closed state, it is suitable for clamping the elastic element in a stretched state and blocking the second magnetic element from the outside. The second magnetic element is suitable for magnetic attraction with the first magnetic element. After the jaw changes from the closed state to the open state, the second magnetic element retracts into the jaw under the rebound force of the elastic element.

[0008] In some embodiments, the elastic element is a spring configured to pull the second magnetic element and the first magnetic element back into the jaws after disengagement from the jaws.

[0009] In some embodiments, toothed plates are provided on both the front and rear sides of the left and right clamps; the jaws formed by the toothed plates and the left and right clamps are adapted to prevent the elastic element from dislodging.

[0010] In some embodiments, one of the left and right clamps is provided with a guide wire that extends distally.

[0011] In some embodiments, a connecting rod is arranged near the jaws, the connecting rod is connected to the jaw head seat, one end of the spring is connected to the connecting rod, and the central axis of the spring coincides with the central axis of the jaws.

[0012] In some embodiments, the clamp head includes a base and a front cup and a rear cup extending downward from the base, with the front cup and the rear cup forming a left-right open movable cavity, and the two ends of the connecting rod being connected to the front cup and the rear cup respectively; the left clamp and the right clamp are pivotally connected by a first rotating shaft, with the two ends of the first rotating shaft being connected to the front cup and the rear cup respectively.

[0013] In some embodiments, the transmission mechanism includes a second rotating shaft connected to the clamp body, a left connecting rod, a right connecting rod, a third rotating shaft, and a second rotating shaft. The left connecting rod and the right connecting rod are rotatably connected via the second rotating shaft. The left clamp and the right clamp are pivotally connected via a first rotating shaft. The left connecting rod is further rotatably connected to the right clamp via the third rotating shaft. The right connecting rod is further rotatably connected to the left clamp via a fourth rotating shaft. The left connecting rod, the right connecting rod, the left clamp, and the right clamp constitute a four-bar linkage.

[0014] In some embodiments, the clamp body includes a sliding handle, a sleeve, a spring element, a push-pull rod, a spring tube, and a rope.

[0015] The push-pull rod passes through the sleeve, and the rope passes through the spring tube. The push-pull rod is connected to the rope to drive the rope to move. The rope is connected to the left and right clamps through a transmission mechanism.

[0016] The sliding handle is slidably sleeved on the outside of the sleeve, one end of the spring tube is connected to the sleeve, and the proximal end of the push-pull rod is connected to the sliding handle; the spring element is disposed between the sliding handle and the sleeve.

[0017] In some embodiments, the clamp head includes a base and a front cup and a rear cup extending downward from the base, wherein the front cup and the rear cup form a movable cavity that is open to the left and right, and the transmission mechanism is disposed within the movable cavity.

[0018] In some embodiments, the two ends of the connecting rod are respectively connected to the front cup and the rear cup; the left clamp and the right clamp are pivotally connected by a first rotating shaft, the two ends of which are respectively connected to the front cup and the rear cup; the spring tube is provided through the base so that the rope is connected to the second rotating shaft, and the rope transmits its axial movement to the clamp head structure through a transmission mechanism to realize the opening and closing of the clamp jaws.

[0019] This invention provides a magnetic grabber, which uses magnetic force to quickly and effectively attract and grab a magnetic ureteral stent. At the same time, a spring component allows the second magnetic component to automatically fall into the inside of the clamp jaws. The operator manipulates the clamp to tighten and remove the ureteral stent, ensuring stable and effective clamping. This method is convenient for outpatient operations, eliminates the pain and trouble of endoscopic stent removal for patients, and saves time and money associated with anesthesia.

[0020] Furthermore, the clamp provided by this invention can improve the success rate of tube removal without endoscopy, is safe and reliable, and at the same time reduces manufacturing costs, making it suitable for large-scale promotion, convenient for doctors to use and reducing surgical costs for patients. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the ureteral stent provided by the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the magnetic gripper provided by the present invention;

[0023] Figure 3 This is a schematic diagram of the pliers head structure provided by the present invention;

[0024] Figure 4 and Figure 5 These are the initial and working states of the magnetic gripper provided by this invention, respectively.

[0025] Figure 6 and Figure 7 This is a partial structural diagram of the magnetic gripper provided by the present invention.

[0026] Figure 8 This is a schematic diagram of another ureteral stent provided by the present invention;

[0027] Figure 9 This is a schematic diagram of another magnetic gripper provided by the present invention;

[0028] Figure 10 This is a schematic diagram of another clamp head structure provided by the present invention;

[0029] Figure 11 This is a schematic diagram of another transmission mechanism provided by the present invention;

[0030] Figure 12 and Figure 13 The diagram shows the structure of two types of spring components for the sleeve provided by this invention. Detailed Implementation

[0031] Example 1

[0032] This embodiment provides a magnetic grabbing forceps system, which includes a magnetic ureteral stent and magnetic grabbing forceps.

[0033] Magnetic ureteral stent:

[0034] like Figure 1As shown, the magnetic ureteral stent includes a stent body, a flexible lead wire disposed on the stent body, and a first magnetic element 150 disposed on the flexible lead wire. The first magnetic element 150 is in a free state under the traction of the flexible lead wire. In some preferred embodiments, the ureteral stent includes a stent body, a flexible lead wire 140 disposed on the stent body, and a first magnetic element 150 disposed on the flexible lead wire 140. The first magnetic element 150 is in a free state under the traction of the flexible lead wire 140. In this way, the magnetic element in the free state can be quickly and actively attracted and clamped by the tube removal device, reducing the operation time and alleviating the patient's surgical pain.

[0035] In some preferred embodiments, such as Figure 2 As shown, the first magnetic component 150 includes a magnetic block and a soft sleeve 160 for covering the outside of the magnetic block. This avoids direct contact and friction between the metallic magnetic component and the inner wall of the patient's ureter, preventing damage. Specifically, the magnetic block has a magnetic attraction surface to quickly attract and engage with the magnetic component of the catheter removal device. In this embodiment, the magnetic attraction block is a cylinder with a circumferential wall, a top surface, and a bottom surface. The circumferential wall is wrapped with a thin film soft sleeve, and one or both of the top and bottom surfaces constitute a magnetic attraction surface.

[0036] In this embodiment, the flexible lead 140 is connected to the middle position of the first magnetic component 150, and both ends of the magnetic block form magnetic attraction surfaces.

[0037] In this embodiment, the support body includes a straight section 120 and two elastic coil sections 110 respectively disposed at both ends of the straight section, wherein one of the elastic coil sections 120 is connected to a flexible lead wire 140.

[0038] Specifically, the elastic coil segment 110 is wound around at least one turn, and both the straight segment 120 and the elastic coil segment 110 are provided with drainage holes 130.

[0039] During the surgery, the magnetic suction tube removal device is inserted into the bladder through the human urethra. The magnetic component of the tube removal device attracts the first magnetic component 150 of the magnetic ureter provided in this embodiment. Then, the magnetic suction tube removal device pulls out the stent by magnetically engaging with the first magnetic component 150 of the magnetic ureter stent.

[0040] Existing magnetic components are limited in their degree of freedom due to the constraint of the stent body, and their cooperation with the magnetic component requires a specific angle and distance. The ureteral stent provided by this invention uses a flexible lead wire to enable the free movement of the first magnetic component 150. When the magnetic component of the magnetic suction tube removal device approaches the ureteral stent, the flexible lead wire provides a basis for the free movement of the first magnetic component 150, so that the magnetic component of the ureteral stent provided in this embodiment can actively attract the first magnetic component 150 of the magnetic suction tube removal device, reducing the operation time and alleviating the patient's surgical pain.

[0041] In other embodiments, the support body shown includes a straight section 120 and an elastic coil section 110 disposed at one end of the straight section. The straight section is connected to a flexible lead wire 140, and the flexible lead wire 140 is provided with a first magnetic element 150. Drainage holes 130 are provided on the straight section 120 and the elastic coil section 110.

[0042] In some preferred embodiments, such as Figure 8 As shown, the magnetic block provided in this embodiment is provided with a protrusion 512. The protrusion 512 can be positioned and cooperate with the ureteral stent body. The protrusion and the magnetic block are provided with a through hole 511 to facilitate the insertion of the guide wire. One end of the magnetic block has a protrusion 512, which can be embedded in the stent drainage channel. During implantation, the magnetic block and the stent are embedded together and implanted under the guidance of the guide wire. When the guide wire is withdrawn, the magnetic block moves with the guide wire and disengages from the stent.

[0043] Specifically, the protrusion has a gap after being embedded in the support so that the protrusion can detach from the support after the guide wire is withdrawn.

[0044] Magnetic gripper:

[0045] like Figure 2 As shown, the magnetic gripper provided in this embodiment includes a gripper body extending to the distal side, a transmission mechanism connected to the gripper body, and a gripper head structure connected to the transmission mechanism. The gripper body drives the left and right grippers to switch between a closed state and an open state through the transmission mechanism.

[0046] like Figure 3 As shown, the pliers head structure includes a pliers head base 7, a left clamp 100 and a right clamp 101 rotatably connected to the pliers head base 7, and a magnetic suction assembly connected to the pliers head base 7; a jaw 102 is formed between the left clamp and the right clamp, as shown... Figure 2 and Figure 3 As shown, the jaws 102 have a closed state and an open state;

[0047] The magnetic suction assembly includes an elastic element 9 and a second magnetic element 10. The second magnetic element 10 can magnetically engage with the first magnetic element 150. Thus, through the attraction between the second magnetic element 10 and the first magnetic element 150, the clamp head structure can pull the ureteral stent. One end of the elastic element 9 is connected to the clamp head seat 7, and the other end is connected to the second magnetic element 10. The elastic element 9 is configured to withstand axial tension so that it can switch from a relaxed state to a stretched state. When the clamp jaw 102 is in the closed state, it is suitable for clamping the elastic element 9 in the stretched state and blocking the second magnetic element 10 from the outside.

[0048] like Figure 4 As shown, before the second magnetic component 10 enters the body and magnetically engages with the ureteral stent, the doctor uses an axial tension spring to stretch it, thus stopping the second magnetic component 10 outside the clamp jaws. The distal surface of the second magnetic component forms the entire magnetic attraction surface, maximizing its magnetic contact area. Because the second magnetic component 10 is positioned outside the clamp jaws, the clamp body drives the clamp head to move. At this time, the first magnetic component 150 is in a free, detached state due to the assistance of the flexible lead wire. Therefore, as... Figure 5 As shown, the free-floating first magnetic element 150 can exert active magnetic attraction to the maximum extent, unaffected by the traction of the ureteral stent, achieving rapid and stable engagement with the second magnetic element 10; as Figure 4 and Figure 5 As shown, after the jaws 102 change from the closed state to the open state, the elastic element 9 rebounds from the stretched state to the relaxed state. At this time, it provides a rebound force to the second magnetic element 10 and eventually retracts to the inside of the jaws 102, thereby causing the first magnetic element 150 connected to the second magnetic element 10 to also retract to the inside of the jaws. In some preferred embodiments, the ureteral stent body can also retract to the inside of the jaws; the first magnetic element 150 of the ureteral stent is driven to retract to the inside of the jaws; finally, the clamping force of the clamps holds the ureteral stent out of the body. This process is achieved by firstly using the first magnetic element 150 and the second magnetic element 10 to achieve rapid positioning of the ureteral stent, and without the need to manually clamp the ureteral stent to the jaws. The elastic force of the elastic element automatically pulls the ureteral stent to the inside of the jaws, and the whole process is automatically achieved. Secondly, the clamping process utilizes the combined effects of magnetic attraction and clamping force to remove the ureteral stent, ensuring stable and effective clamping, facilitating outpatient operation, eliminating the pain and inconvenience of endoscopic stent removal for patients, and saving the time and cost of anesthesia.

[0049] In summary, the magnetic clamp provided in this embodiment eliminates the need for directly using magnets to extract the ureteral stent from the body, thus avoiding the technical problem of the stent easily dislodging. Through the combined design of the second magnetic component and the spring, the opening and closing of the clamps simultaneously achieves magnetic positioning and automatic jaw retraction. While quickly positioning the ureteral connector using magnets, the second magnetic component directly guides the ureteral stent to the inside of the clamp jaws. Throughout the process, the operator does not need to position the ureteral stent or adjust the clamping mechanism to hold it in place, thus automating the clamping process. Furthermore, the clamp head structure provided by this invention is simple and low-cost.

[0050] In this embodiment, the elastic element 9 is a spring, which is configured to pull the second magnetic element back into the jaws after being released from the clamping jaws 102.

[0051] Both the left and right clamps are equipped with toothed plates 8 on their front and rear sides. These teeth facilitate clamping of objects and also act as a stop for the spring in the front-rear direction. The jaws formed by the toothed plates and the left and right clamps ensure the spring is positioned within the jaws, preventing it from dislodging and thus preventing the second magnetic component from automatically springing back into the jaws. To avoid requiring the clamps to be inserted into the body through an endoscopic tube, one of the left and right clamps provided in this invention is equipped with a guide wire 11. The guide wire 11 extends distally, and its flexible function is to guide the clamps into the urethra and bladder, and to prevent the clamp tips from injuring the bladder wall. It is understood that, as Figure 10 As shown, the front and rear sides of the left and right clamps can also be configured as flat plates.

[0052] To ensure that the spring can be stably positioned inside the jaws, this embodiment adopts the following implementation method: a connecting rod 103 is arranged near the jaws 102, the connecting rod 103 is connected to the jaw head seat 7, one end of the spring 9 is connected to the connecting rod 103, and the central axis of the spring 9 coincides with the central axis of the jaws. In this way, when the second magnetic component pulls the ureteral stent into the jaws, the ureteral stent is also located in the middle position of the jaws, which makes the clamping effect better and avoids the technical problem of unstable clamping caused by clamping bias.

[0053] In this embodiment, as Figure 6 and Figure 7 As shown, the clamp head seat 7 includes a seat body 71 and a front cup 72 and a rear cup 73 extending downward from the seat body. The front and rear sides are relative to the left and right clamps. The front cup and the rear cup form an open movable cavity 700 to provide movement space for the transmission mechanism. The two ends of the connecting rod 103 are respectively connected to the front cup 72 and the rear cup 73.

[0054] The left clamp 100 and the right clamp 101 are pivotally connected by a first rotating shaft 105, the two ends of which are respectively connected to the front cup and the rear cup.

[0055] Optionally, the second magnetic component is a strongly magnetic metal component.

[0056] In this embodiment, the transmission mechanism includes a second rotating shaft 200 connected to the clamp body, a left connecting rod 201, a right connecting rod 202, a third rotating shaft (not shown in the figure), and a fourth rotating shaft 205. The left connecting rod 201 and the right connecting rod 202 are rotatably connected through the second rotating shaft 200. The left clamp 100 and the right clamp 101 are pivotally connected through the first rotating shaft 105. The left connecting rod 201 is further rotatably connected to the right clamp 101 through the third rotating shaft, and the right connecting rod 202 is further rotatably connected to the left clamp 101 through the fourth rotating shaft 205. The left connecting rod 201, the right connecting rod 202, the left clamp 100, and the right clamp 101 constitute a four-bar linkage mechanism. This four-bar linkage mechanism can convert the axial displacement of the clamp body into the opening and closing of the jaws.

[0057] In other embodiments, Figure 11 As shown, the left connecting rod 201 and the right connecting rod 202 can be in the form of threaded connecting rods.

[0058] The clamp body includes a sliding handle 1, a sleeve 2, a spring element 3, a push-pull rod 4, a spring tube 5, and a rope 6.

[0059] The push-pull rod 4 is movably installed through the sleeve, and the rope 6 is installed through the spring tube 5. The push-pull rod 4 is connected to the rope 6 to drive the rope 6 to move. The rope 6 is connected to the left clamp 100 and the right clamp 101 through a transmission mechanism.

[0060] The sliding handle 1 is slidably sleeved on the outside of the sleeve 2 so that it can slide axially relative to the sleeve 2. One end of the spring tube 5 is connected to the sleeve 2, and the other end passes through the clamp head seat 7. The proximal end of the push-pull rod 4 is connected to the sliding handle 1. In this way, the sliding handle drives the rope to move axially through the push-pull rod. Figure 7 As shown, the cannula 2 is equipped with scale lines. Doctors can determine whether the left clamp 100 and the right clamp 101 have clamped the magnetic component of the ureteral stent by observing the change in the scale of the sliding handle 1. When the left clamp 100 and the right clamp 101 clamp the magnetic component of the ureteral stent, the scale value of the sliding handle 1 is less than the initial scale value of the sliding handle.

[0061] The spring 3 is disposed between the sliding handle 1 and the sleeve 2 to provide a reset force for the sliding handle 1; for example Figure 12As shown, in some embodiments, spring 3 is a compression spring, which, after compression, is installed between the sliding handle 1 and the sleeve 2. The elastic force generated by the spring 3 after its reset pushes the sliding handle 1 downwards, causing the clamp 9 to tighten inwards and close. Figure 13 As shown, in some other embodiments, the spring 3 is a tension spring, which is stretched and inserted into the groove between the sliding handle 1 and the sleeve 2. The tension generated by the spring 3 after resetting pulls the sliding handle downward, the clamp tightens inward, and the clamp closes.

[0062] The clamp head base 7 includes a base body 71 and a front cup 72 and a rear cup 73 extending downward from the base body. The front cup 72 and the rear cup 73 form a movable cavity that is open to the left and right. The transmission mechanism is disposed in the movable cavity. The two ends of the connecting rod 103 are respectively connected to the front cup 72 and the rear cup 73.

[0063] The left clamp 100 and the right clamp 101 are pivotally connected by a first rotating shaft 105, the two ends of which are respectively connected to the front cup 72 and the rear cup 73.

[0064] The spring tube 5 passes through the base 71, and the rope 6 is connected to the second rotating shaft. Thus, the rope transmits its axial movement to the clamp head structure via a transmission mechanism to open and close the clamp jaws. By pushing and pulling the sliding handle 1 to move the steel wire rope 6 inside the spring tube 5, the clamp jaws on the clamp head base 7 can be closed or opened. The flexible guide wire 11 guides the clamp into the urethra to the bladder and prevents the clamp head from injuring the bladder wall. Specifically, this rope is a steel wire rope.

[0065] Optionally, the spring tube, clamps, and clamp head seats are all treated with a hydrophilic coating, and the outer surfaces of rotating head components such as clamps and clamp head seats are smooth without sharp edges to ensure reduced damage to the urethra upon entry.

[0066] The magnetic grabber provided by this invention firstly utilizes magnetic attraction to conveniently, quickly, and effectively grasp the magnetic ureteral stent. The clamping force of the clamp doubles to ensure the secure removal of the magnetic ureteral stent, guaranteeing stable and effective clamping. This facilitates outpatient operation, eliminates the pain and inconvenience of endoscopic stent removal for patients, and saves time and costs associated with anesthesia.

[0067] Furthermore, the clamp provided by this invention can improve the success rate of tube removal without endoscopy, is safe and reliable, and at the same time reduces manufacturing costs, making it suitable for large-scale promotion, convenient for doctors to use and reducing surgical costs for patients.

[0068] For example, such as Figure 4 and Figure 5 As shown, the magnetic gripper provided in this embodiment has an initial state and a picking-up state:

[0069] Initial state: Jaws 102 are closed, and the elastic element 9 is wrapped between the jaws of the left and right jaws. The strong magnetic metal element 10 is pressed against the outside of the jaws of the left and right jaws, ensuring that the strong magnetic metal element can more easily attract the object being picked up; at this time, the spring element 3 presses the sliding handle to ensure the jaws are closed.

[0070] Retrieval status: After the strong magnetic metal part attracts the magnetic part of the magnetic ureteral stent, the sliding handle 1 is pushed upward and the jaws open. The elastic part 9 instantly springs back to its original position and pulls the magnetic part of the magnetic ureteral stent into the jaws. Finally, the sliding handle 1 is pulled downward to tighten the jaws, clamping the inside of the object and pulling it out of the body.

Claims

1. A magnetic gripper, characterized in that, The magnetic gripper includes a gripper body extending distally, a transmission mechanism connected to the gripper body, and a gripper head structure connected to the transmission mechanism. The gripper body drives the left and right grippers to switch between a closed and an open state via the transmission mechanism. The gripper head structure includes a gripper head base, a left and a right gripper rotatably connected to the gripper head base, and a magnetic attraction assembly connected to the gripper head base. A jaw is formed between the left and right grippers, and the jaw has a closed and an open state. The magnetic attraction assembly includes an elastic element and a second magnetic element. One end of the elastic element is connected to the gripper head base, and the other end is connected to the second magnetic element. The elastic element is configured to withstand axial tension. When the jaw is in the closed state, it is suitable for clamping the elastic element in the stretched state and blocking the second magnetic element from the outside. The second magnetic element is suitable for magnetic attraction with the first magnetic element. After the jaw changes from the closed state to the open state, the second magnetic element is retracted into the jaw under the rebound force of the elastic element.

2. The magnetic gripper according to claim 1, characterized in that, The elastic element is a spring, which is configured to pull the second magnetic element and the first magnetic element back into the jaws after being released from the jaws.

3. The magnetic gripper according to claim 1, characterized in that, The left and right clamps are provided with toothed plates on both the front and rear sides; the jaws formed by the toothed plates and the left and right clamps are suitable for preventing the elastic element from dislodging.

4. The magnetic gripper according to claim 1, characterized in that, One of the left and right clamps is provided with a guide wire that extends toward the distal end.

5. The magnetic gripper according to claim 2, characterized in that, A connecting rod is arranged near the jaws, the connecting rod is connected to the jaw head seat, one end of the spring is connected to the connecting rod, and the central axis of the spring coincides with the central axis of the jaws.

6. The magnetic gripper according to claim 5, characterized in that, The clamp head includes a base and a front cup and a rear cup extending downward from the base. The front cup and the rear cup form an open movable cavity. The two ends of the connecting rod are respectively connected to the front cup and the rear cup. The left clamp and the right clamp are pivotally connected by a first rotating shaft. The two ends of the first rotating shaft are respectively connected to the front cup and the rear cup.

7. The magnetic gripper according to claim 1, characterized in that, The transmission mechanism includes a second rotating shaft connected to the clamp body, a left connecting rod, a right connecting rod, a third rotating shaft, and a second rotating shaft. The left connecting rod and the right connecting rod are rotatably connected via the second rotating shaft. The left clamp and the right clamp are pivotally connected via a first rotating shaft. The left connecting rod is further rotatably connected to the right clamp via the third rotating shaft. The right connecting rod is further rotatably connected to the left clamp via a fourth rotating shaft. The left connecting rod, the right connecting rod, the left clamp, and the right clamp constitute a four-bar linkage mechanism.

8. The magnetic gripper according to claim 5, characterized in that, The clamp body includes a sliding handle, a sleeve, a spring component, a push-pull rod, a spring tube, and a rope. The push-pull rod passes through the sleeve, and the rope passes through the spring tube. The push-pull rod is connected to the rope to drive the rope to move. The rope is connected to the left and right clamps through a transmission mechanism. The sliding handle is slidably sleeved on the outside of the sleeve, one end of the spring tube is connected to the sleeve, and the proximal end of the push-pull rod is connected to the sliding handle; the spring element is disposed between the sliding handle and the sleeve.

9. The magnetic gripper according to claim 8, characterized in that, The clamp head includes a base and a front cup and a rear cup extending downward from the base. The front cup and the rear cup form a movable cavity that is open to the left and right. The transmission mechanism is disposed in the movable cavity.

10. The magnetic gripper according to claim 9, characterized in that, The two ends of the connecting rod are respectively connected to the front cup and the rear cup; the left clamp and the right clamp are pivotally connected by a first rotating shaft, the two ends of which are respectively connected to the front cup and the rear cup; the spring tube passes through the base so that the rope is connected to the second rotating shaft, and the rope transmits its axial movement to the clamp head structure through the transmission mechanism to realize the opening and closing of the clamp jaws.

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