Clamping device and mitral valve repair system

Abstract

The invention relates to a clamping device and a mitral valve repair system, and belongs to the technical field of medical instruments. In order to overcome the defects that the length of an existing clamping plate cannot be adjusted, so that a valve is damaged or the valve is difficult to capture, a first clamping mechanism, a second clamping mechanism, a guide rod and a protective cover which are connected are arranged, and the first clamping mechanism and the second clamping mechanism are arranged on the guide rod in a sleeving mode; the first clamping mechanism comprises at least two symmetrically-distributed first clamping arms, the second clamping mechanism comprises second clamping arms arranged corresponding to the first clamping arms, the far ends of the first clamping arms and the far ends of the second clamping arms are arranged on the guide rod in a sleeving mode, and the near ends of the second clamping arms are connected with the guide rod through telescopic mechanisms. The free ends of the first clamping arm and the second clamping arm are correspondingly connected with a first telescopic catching part and a second telescopic catching part which are respectively used for adjusting the catching lengths of the first clamping arm and the second clamping arm. The length of the clamping arms can be flexibly adjusted when the valve is captured, the capturing efficiency and accuracy are improved, and trauma to the valve is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a clamping device and a mitral valve repair system. Background Art

[0002] The mitral valve is a one-way valve between the left atrium and the left ventricle, and is a very important valve tissue for the human body. With the aggravation of aging and the increase in the incidence of cardiovascular diseases, the number of patients with mitral regurgitation and other diseases continues to grow. Mitral valve lesions have a great impact on the heart function and normal life of patients, and are very difficult problems clinically. According to statistics, among heart valve diseases, mitral valve lesions account for 70% of valve diseases, accounting for a large proportion.

[0003] At present, transcatheter mitral valve clip closure is mostly used clinically to treat such diseases. A clamping device is used to clamp and fix the incompletely closed mitral valve. Usually, the clamping device used is two sets of parallel and closely attached splints or clips to clamp the smooth valve. However, the existing mitral valve clips expose obvious shortcomings. The sizes of the existing splints or clips are fixed. Although the long clip has certain advantages in the capture range and can touch the valve tissue at a relatively far distance, due to its rigid structure, it is extremely easy to cause mechanical damage to the fragile valve during the operation, resulting in postoperative complications and affecting the patient's recovery; although the short clip is relatively gentle and has a small risk of direct damage to the valve, due to its insufficient length, it is difficult to accurately and stably capture the target tissue when facing some complex anatomical structures or valves with special lesion positions, resulting in a sharp increase in the difficulty of the surgical operation, an extension of the operation time, and a limitation of the surgical success rate.

[0004] The above defects seriously hinder the development of mitral valve repair surgery, and there is an urgent need to design a clamping device that can flexibly capture valve tissue and can protect the valve tissue from damage to the greatest extent, so as to push cardiac valve repair surgery to a new height. Summary of the Invention

[0005] Aiming at the defect that the length of the splint of the clamping mechanism in the above-mentioned existing technology cannot be adjusted, resulting in valve damage or difficulty in capturing valve tissue, the present invention aims to provide a clamping device and a mitral valve repair system to solve the problems in the background art.

[0006] The above object of the present invention is achieved through the following technical solutions: A clamping device includes a first clamping mechanism, a second clamping mechanism, a guide rod and a protective cover. Both the first clamping mechanism and the second clamping mechanism are sleeved on the guide rod, and the first clamping mechanism is located outside the second clamping mechanism. One end of the guide rod is connected to the inner wall of the protective cover, and the other end of the guide rod extends outward from the opening of the protective cover, wherein: The first clamping mechanism includes at least two symmetrically distributed first clamping arms; The second clamping mechanism includes second clamping arms arranged corresponding to the first clamping arms. The distal ends of the first clamping arms and the distal ends of the second clamping arms are both sleeved on a guide rod, and the proximal end of the second clamping arm is connected to the guide rod through a telescopic mechanism; The free ends of the first clamping arm and the second clamping arm are correspondingly connected with a first telescopic catching part and a second telescopic catching part respectively, which are used to adjust the catching lengths of the first clamping arm and the second clamping arm.

[0007] To achieve the above technical purpose, further, the first telescopic catching part includes a first catching head, an expansion part and a first driving part. The first catching head is connected to the free end of the first clamping arm. The expansion part is installed on the first mounting frame of the first catching head. The first driving part is arranged inside the first clamping arm and is connected to the first mounting frame through a rigid air pipe. The end of the rigid air pipe leads into the expansion part.

[0008] A further preferred solution of the above scheme is that a fixed baffle is further arranged inside the first clamping arm. A moving piston is arranged at the movable end of the first driving part. The rigid air pipe penetrates through the fixed baffle and is connected to the moving piston. The first driving part pushes the moving piston to move towards the direction close to the fixed baffle, and the gas is compressed by the moving piston and enters the inside of the expansion part from the air inlet of the rigid air pipe.

[0009] A further preferred solution is that the second telescopic catching part includes a second catching head, an auxiliary catching component and retractable fins. The second catching head is connected to the free end of the second clamping arm. The auxiliary catching component is connected to the second mounting frame of the second catching head through an adjusting component. The retractable fins are symmetrically arranged on both sides of the second mounting frame.

[0010] A further preferred solution is that the auxiliary catching component includes a mounting shaft and catching hooks. There are multiple mounting shafts, each mounting shaft is movably connected to the second mounting frame, a number of catching hooks are evenly arranged on each mounting shaft, and rotating wheels are arranged at both ends of the mounting shaft, and cooperate with the adjusting component through the rotating wheels.

[0011] A further preferred solution is that the adjusting component includes a second driving part, a gear set and an adjusting plate. The second driving part is arranged inside the second clamping arm. There is at least one set of the gear set and the adjusting plate. A first rack is arranged at the end of the second driving part, the first rack meshes with the gear set, a second rack and a third rack are respectively arranged at both ends of the adjusting plate, the second rack meshes with the gear set, and the third rack cooperates with the rotating wheel.

[0012] A further preferred solution is as follows: The gear set includes a first circular gear, a second circular gear, a first arc gear, and a second arc gear. The first circular gear and the second circular gear are respectively fixedly connected inside the second clamping arm, and the first circular gear meshes with the second circular gear. The first arc gear and the second arc gear are respectively arranged corresponding to the first circular gear and the second circular gear, and the first circular gear cooperates with the second rack. The first arc gear and the second arc gear respectively mesh with the first rack in an alternating manner.

[0013] A further preferred solution is as follows: The retractable fin is a foldable structure composed of multiple fan-shaped pieces. The lower end of the retractable fin is hinged to the second mounting frame, and a spring is arranged between the retractable fin and the second mounting frame.

[0014] In addition, the present invention also discloses a mitral valve repair system, which includes a delivery sheath and the clamping device described above. The delivery sheath is detachably connected to the clamping device, and the guide rod can move along the axial direction of the delivery sheath.

[0015] As a further preferred solution: A plurality of traction ropes are arranged on the inner side wall of the delivery sheath. The extending direction of the traction ropes is parallel to the axis of the delivery sheath. By pulling the traction ropes, the bending degree of the delivery sheath can be changed.

[0016] Compared with the prior art, the present invention can produce the following beneficial effects: The clamping device of the present invention includes a first clamping mechanism and a second clamping mechanism, and the lengths of the first clamping mechanism and the second clamping mechanism can both be extended or shortened. The purpose is to facilitate the adaptive adjustment of the lengths of the first clamping mechanism and the second clamping mechanism according to individual conditions during mitral valve surgery, and with the help of the delicate design in the two clamping mechanisms, such as the expansion of the expansion member, the rotation of the capture hook, and the auxiliary capture of the retractable fin, to improve the success rate of the capture process, and thus effectively solve the problems existing in the existing clamping devices, such as long clamps being easy to damage valve tissue and short clamps being difficult to accurately capture valve tissue. Specifically as follows: 1. By providing the first clamping arm and the first telescopic capture part movably connected thereto, using the first driving part in the first telescopic capture part to push the first capture head to move, the overall length of the first clamping arm is extended, which is convenient for capturing the valve tissue of the mitral valve. During the elongation adjustment process, gas between the moving piston and the fixed baffle enters the expansion member, so that the expansion member inflates as it moves synchronously with the first capture head, increasing the contact area between the end of the first clamping arm and the valve tissue, which can not only improve the stability and accuracy of the capture, but also avoid damaging the valve tissue.

[0017] 2. Similarly, by setting the second telescopic capturing part and coordinating to adjust the overall length of the second clamping arm, and using the cooperation between the auxiliary capturing component and the adjusting component in the second telescopic capturing part, on the one hand, the second capturing head is pushed to extend outwards, and on the other hand, through the meshing of the gear set and the adjusting plate, the adjusting plate moves downward to drive the rotating wheel to rotate clockwise, adjusting the angle of the capturing hook, and firmly grasping the valve tissue with the capturing hook to prevent slippage. At the same time, the telescopic fins unfold as the second capturing head extends, increasing the capturing range of the valve tissue and improving the accuracy of the capturing process.

[0018] 3. The valve tissue is clamped by the cooperation of the first clamping arm and the second clamping arm. During the capturing, the end of the first capturing head expands and the telescopic fins of the second capturing head extend, increasing the contact range with the valve tissue, which is beneficial to improving the accuracy and efficiency of the capturing. After the capturing is completed, the first capturing head and the second capturing head are adjusted to contract to an appropriate length. During the contraction, under the cooperation of the gear set and the adjusting plate, the capturing hook continues to rotate clockwise to release the valve tissue, minimizing the compression and friction on the valve tissue and reducing surgical trauma. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below.

[0020] Figure 1 It is a schematic diagram of the overall structure of a clamping device of the present invention; Figure 2 It is a cross-sectional view of the first clamping mechanism of the present invention; Figure 3 It is a partial internal structure diagram of the first clamping mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the first capturing head and the first mounting frame of the present invention; Figure 5 It is a schematic diagram of the structure of the second telescopic capturing part of the present invention; Figure 6 It is a schematic diagram of the structure of the auxiliary capturing component and the adjusting component in one state of the present invention; Figure 7 It is a schematic diagram of the structure of the auxiliary capturing component and the adjusting component in another state of the present invention; Figure 8 It is a schematic diagram of the position of the gear set in the initial state of the present invention; Figure 9 It is a schematic diagram of the position of the gear set in the state where the second clamping arm is extended of the present invention; Figure 10 It is an enlarged view of the cooperation relationship between the third rack and the rotating wheel of the present invention; Figure 11Schematic diagram of the lower end connection of the retractable fin of the present invention; Figure 12 Schematic diagram of the overall structure of a mitral valve repair system of the present invention; Figure 13 Exploded view of the connection relationship between the clamping device and the delivery sheath of the present invention; Figure 14 Schematic diagram of the clamping state of the clamping device of the present invention when not extended; Figure 15 Schematic diagram of the clamping state of the clamping device of the present invention when extended; In the figure: 1. First clamping mechanism; 11. First clamping arm; 111. First capture head; 112. Expanding member; 113. First driving member; 114. Rigid ventilation pipe; 115. Moving piston; 116. Fixed baffle; 12. First mounting frame; 2. Second clamping mechanism; 21. Second clamping arm; 211. Second capture head; 212. Auxiliary capture assembly; 2121. Mounting shaft; 2122. Capture hook; 2123. Rotating wheel; 213. Retractable fin; 214. Adjusting assembly; 2141. Second driving member; 2142. Adjusting plate; 2143. First circular gear; 2144. Second circular gear; 2145. First arc gear; 2146. Second arc gear; 2147. First rack; 2148. Second rack; 2149. Third rack; 22. Second mounting frame; 3. Guide rod; 4. Protective cover; 5. Telescopic mechanism; 51. Collar; 52. Third driving member; 6. Clamping mechanism; 61. Fourth driving member; 62. Clamping ring; 63. Spring piece; 64. Staple; 7. Delivery sheath. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention.

[0022] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs. In addition, the term "proximal" refers to the end close to the operator during surgical operations, and the term "distal" refers to the end far from the operator during surgical operations. The terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. The terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0023] In this application, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Embodiment 1: Referring to Figures 1 - 11 、 Figure 14 , the present invention provides a clamping device, including a first clamping mechanism 1, a second clamping mechanism 2, a guide rod 3 and a protective cover 4. Both the first clamping mechanism 1 and the second clamping mechanism 2 are sleeved on the guide rod 3, and the first clamping mechanism 1 is located outside the second clamping mechanism 2. One end of the guide rod 3 is connected to the inner wall of the protective cover 4, and the other end of the guide rod 3 extends outward from the opening of the protective cover 4. Among them: The first clamping mechanism 1 includes at least two symmetrically distributed first clamping arms 11, the second clamping mechanism 2 includes second clamping arms 21 arranged corresponding to the first clamping arms 11, and the distal ends of the first clamping arms 11 and the distal ends of the second clamping arms 21 are both sleeved on the guide rod 3. The proximal end of the second clamping arm 21 is connected to the guide rod 3 through a telescopic mechanism 5. The free ends of the first clamping arm 11 and the second clamping arm 21 are correspondingly connected with a first telescopic capturing part and a second telescopic capturing part respectively, which are used to adjust the capturing lengths of the first clamping arm 11 and the second clamping arm 21.

[0025] In this embodiment, there are two first clamping arms 11 and two second clamping arms 21 respectively, and both the first clamping arms 11 and the second clamping arms 21 are made of nickel-titanium alloy (shape memory alloy). In the natural state, the first clamping arms 11 and the second clamping arms 21 both extend outward and open. Anti-slip patterns are provided on the surfaces of the first clamping arms 11 and the second clamping arms 21 that are close to each other. The anti-slip patterns here are made of serrated medical silicone material, which can not only increase the friction between valve tissues, but also effectively reduce the damage to the valve during the clamping process, improving the reliability and safety of capturing the valve.

[0026] Such as Figures 2 - 4As shown in the figure, the first telescopic capturing part includes a first capturing head 111, an expansion member 112, and a first driving member 113. The first capturing head 111 is connected to the free end of the first clamping arm 11. One end of the first capturing head 111 is integrally connected to the first mounting frame 12. The first capturing head 111 is slidably connected to the first clamping arm 11 through the first mounting frame 12. The expansion member 112 is installed on the first mounting frame 12. The first driving member 113 is disposed inside the first clamping arm 11. A fixed baffle 116 is also disposed inside the first clamping arm 11. The movable end of the first driving member 113 is fixedly connected to a moving piston 115. A rigid air pipe 114 penetrates through the fixed baffle 116. One end of the rigid air pipe 114 is connected to the moving piston 115, and the other end is connected to the first mounting frame 12. The end of the rigid air pipe 114 leads into the expansion member 112. When the first driving member 113 is started, the movable end of the first driving member 113 pushes the moving piston 115 to move towards the fixed baffle 116. The moving piston 115 compresses the gas, causing the space between the fixed baffle 116 and the moving piston 115 to gradually decrease, so that the gas in this space enters the interior of the expansion member 112 through the air inlet of the rigid air pipe 114. In this embodiment, the expansion member 112 adopts an airbag structure, and the first mounting frame 12 is a hollow structure. The expansion member 112 is inserted on the first mounting frame 12, and its air inlet is located at the end of the first mounting frame 12.

[0027] As Figure 5 shown in the figure, the second telescopic capturing part includes a second capturing head 211, an auxiliary capturing assembly 212, and retractable fins 213. The second capturing head 211 is connected to the free end of the second clamping arm 21. One end of the second capturing head 211 is integrally connected to the second mounting frame 22. The auxiliary capturing assembly 212 is connected to the second mounting frame 22 through an adjusting assembly 214. The retractable fins 213 are symmetrically arranged on both sides of the second mounting frame 22.

[0028] Specifically, the auxiliary capturing assembly 212 includes a mounting shaft 2121 and a capturing hook 2122. There are multiple mounting shafts 2121, which are evenly distributed along the length direction of the second mounting frame 22. Each mounting shaft 2121 is rotatably connected to the second mounting frame 22. A number of capturing hooks 2122 are evenly distributed on each mounting shaft 2121. Rotating wheels 2123 are respectively arranged at both ends of the mounting shaft 2121 and cooperate with the adjusting assembly 214 through the rotating wheels 2123.

[0029] As Figures 6 - 10As shown in the figure, the adjusting assembly 214 includes a second driving member 2141, a gear set, and an adjusting plate 2142. The second driving member 2141 is disposed inside the second clamping arm 21, and the movable end of the second driving member 2141 is fixedly connected to the second mounting frame 22. The second driving member 2141 is used to extend the second mounting frame 22 out of the second clamping arm 21. At least one set of the gear set and the adjusting plate 2142 is provided. A first rack 2147 is disposed at the end of the second driving member 2141, and the first rack 2147 meshes with the gear set. In this embodiment, two sets of the gear set and the adjusting plate 2142 are provided, and the two sets of gear sets are symmetrically distributed on both sides of the second driving member 2141, and each set of gear sets meshes with the second driving member 2141. The two adjusting plates 2142 are symmetrically distributed on both sides of the second driving member 2141 and are movably connected to the second mounting frame 22. Second racks 2148 and third racks 2149 are respectively disposed at both ends of the adjusting plate 2142. Among them, the second rack 2148 is located on the side of the adjusting plate 2142 close to the gear set, the third rack 2149 is located on the upper surface of the adjusting plate 2142, the second rack 2148 meshes with the gear set, and the third rack 2149 cooperates with the rotating wheel 2123.

[0030] In this embodiment, the gear set includes a first circular gear 2143, a second circular gear 2144, a first arc gear 2145, and a second arc gear 2146. The first circular gear 2143 and the second circular gear 2144 are respectively fixedly connected inside the second clamping arm 21, and the first circular gear 2143 meshes with the second circular gear 2144. The first arc gear 2145 is fixedly connected to the top of the first circular gear 2143, the second arc gear 2146 is fixedly connected to the top of the second circular gear 2144, and the first circular gear 2143 cooperates with the second rack 2148. The first arc gear 2145 and the second arc gear 2146 respectively mesh with the first rack 2147 alternately; When the second driving member 2141 is turned on (taking the right side of the second driving member 2141 as an example), the first rack 2147 at the end of the second driving member 2141 moves upward, and the first arc gear 2145 meshing with the first rack 2147 rotates clockwise. The first circular gear 2143 rotates clockwise synchronously with the first arc gear 2145. The second circular gear 2144 cooperating with the first circular gear 2143 drives the second arc gear 2146 to rotate counterclockwise. Through the cooperation of the first circular gear 2143 and the second rack 2148, the adjusting plate 2142 is pushed to move downward. Under the cooperation of the third rack 2149 and the rotating wheel 2123, the mounting shaft 2121 rotates clockwise, so as to adjust the angle of the capture hook 2122, which is beneficial to firmly capture the valve tissue through the capture hook 2122. (It should be noted here that the principle on the left side of the second driving member 2141 is the same, and the difference is that the rotation direction of the gear at the corresponding position is exactly opposite, but the final result is also to drive the adjusting plate 2142 on the left side to move downward).

[0031] AsFigure 11 As shown, the retractable fin 213 is a foldable structure composed of multiple fan-shaped pieces (similar to the structure of a fan). The lower end of the retractable fin 213 is hinged to the second mounting frame 22, and a spring is provided between the retractable fin 213 and the second mounting frame 22, and the spring effectively pulls the retractable fin 213. Before the second mounting frame 22 extends out of the second clamping arm 21, the retractable fin 213 is received in the receiving cavity of the second mounting frame 22. The extending length of the second mounting frame 22 from the second clamping arm 21 depends on specific circumstances. The retractable fin 213 unfolds different coverage ranges as the extending length of the second mounting frame 22 increases, which helps to increase the capture area of the valve tissue and thus improve the capture efficiency.

[0032] In this embodiment, the telescopic mechanism 5 includes a collar 51 and a third driving member 52. Referring to Figure 14 , the collar 51 is fixedly connected to the guide rod 3, and both ends of the third driving member 52 are hinged to the collar 51 and the second clamping arm 21 respectively. When the third driving member 52 is activated, the third driving member 52 extends to move the second clamping arm 21 towards the direction close to the first clamping arm 11, and the valve tissue is clamped by the first clamping arm 11 and the second clamping arm 21.

[0033] Embodiment Two: Based on the above Embodiment One, the present invention further provides a mitral valve repair system. As Figures 12 - 13 shown, the mitral valve repair system includes a delivery sheath 7 and the clamping device in the above Embodiment One. The clamping device is detachably connected to a push rod (not shown) through a clamping mechanism 6. In the unused state, both the clamping device and the push rod are located inside the delivery sheath 7. The guide rod 3 is moved along the axial direction of the delivery sheath 7 through the push rod. A plurality of traction ropes (not shown) are provided on the inner side wall of the delivery sheath 7, and the extending direction of the traction ropes is parallel to the axis of the delivery sheath 7. The curvature of the delivery sheath 7 can be changed by pulling the traction ropes.

[0034] As Figure 13 shown, the clamping mechanism 6 includes a fourth driving member 61, a clamping ring 62, spring pieces 63 and a staple 64. One end of the fourth driving member 61 is connected to the push rod, and the other end thereof is connected to the clamping ring 62. There are two groups of spring pieces 63 which cross each other. The spring pieces 63 are movably inserted through the lower end of the clamping ring 62, and the staple 64 passes through the spring pieces 63 and is connected to the end of the catheter.

[0035] After the clamping device is pushed out of the delivery sheath 7 to reach the intervention position, the first clamping arm 11 and the second clamping arm 21 cooperate to clamp the valve tissue. Then, the fourth driving member 61 is activated, and the fourth driving member 61 is used to push the clamp ring 62 downward, so that the clamp ring 62 compresses the spring piece 63. When the lower end of the spring piece 63 contracts inward, the staple 64 at its lower end is synchronously driven to disengage from the guide rod 3, thereby separating the delivery sheath 7 from the clamping device. The push rod and the delivery sheath 7 are retracted to complete the clamping operation of the mitral valve tissue.

[0036] In the above embodiment, both the first capture head 111 and the second capture head 211 are made of medical-grade silicone. Anti-slip protrusions are provided on the sides of the first capture head 111 and the second capture head 211 that are close to each other, which can not only prevent scratching the valve tissue during capture, but also increase the friction when capturing the valve tissue, protecting the integrity of the valve tissue and avoiding the surgical risks that may be caused by failed capture; the first driving member 113, the second driving member 2141, the third driving member 52, and the fourth driving member 61 are all electric push rods, and the electric push rods are wirelessly connected. The doctor controls the corresponding electric push rods through the operation terminal of the mitral valve repair system to complete the corresponding actions.

[0037] Embodiment Three: A clamping device and a mitral valve repair system according to the present invention, in actual application: The clamping device is connected inside the delivery sheath 7 through the clamping mechanism 6, and the surgical intervention operation is started according to the clinical operation. After reaching the intervention position, the clamping device is pushed out of the delivery sheath 7 by the push rod. The first clamping arm 11 gradually expands under the action of shape memory and adjusts to the capture posture. The second clamping arm 21 continues to close under the traction of the telescopic mechanism 5. When the mitral valve is between the first clamping arm 11 and the second clamping arm 21, according to the state of the mitral valve tissue, the length of the first clamping arm 11 is adaptively adjusted. Specifically: The doctor presses the control switch of the first driving member 113 at the handheld end. The movable end of the first driving member 113 extends, and the rigid ventilation pipe 114 pushes the mounting frame 12 outward. The expansion member 112 gradually moves outward with the mounting frame 12. At the same time, since the first driving member 113 pushes the moving piston 115 towards the fixed baffle 116, the gas compressed in this space enters the expansion member 112 through the rigid ventilation pipe 114. That is, the expansion member 112 expands synchronously while extending out of the first clamping arm 11, increasing the contact area between the first capture head 111 and the valve tissue, and improving the accuracy and stability of capture. After the length adjustment of the first clamping arm 11 is in place, the doctor presses the control switch of the third driving member 52 at the handheld end. The movable end of the third driving member 52 extends, pushing the second clamping arm 21 to gradually resume its memory shape. When the second clamping arm 21 approaches the valve tissue, the length of the second clamping arm 21 is adaptively adjusted according to the state of the mitral valve tissue. Refer to Figure 14 , Figure 15 as shown. Specifically: The doctor presses the control switch of the second driving member 2141 at the handheld end. The movable end of the second driving member 2141 pushes the second mounting frame 22 upward. During this process, the first rack 2147 meshes with the first arc gear 2145. Through the cooperation of the first circular gear 2143 and the second rack 2148, the adjusting plate 2142 is pushed downward. Through the cooperation of the third rack 2149 and the rotating wheel 2123, the capture hook 2122 rotates clockwise by a certain angle, firmly capturing the valve tissue to prevent it from slipping. At this time, since the second mounting frame 22 extends out, the retractable fin 213 is released, and the retractable fin 213 assists in capturing the valve tissue. Then, it is determined whether it is necessary to shorten the lengths of the first clamping arm 11 and the second clamping arm 21 according to the situation of the valve tissue. If there is no need to shorten, the second clamping arm 21 and the first clamping arm 11 can directly clamp the valve tissue through the cooperation of the third driving member 52 ( Figure 15 ); if it is necessary to shorten the lengths of the first clamping arm 11 and the second clamping arm 21 to prevent the first clamping arm 11 and the second clamping arm 21 from damaging the valve tissue, the free end of the first driving member 113 contracts, releasing the gas in the expansion member 112 and at the same time driving the first mounting frame 12 to retract into the first clamping arm 11. Through the cooperation of the first rack 2147 and the second arc gear 2146, while moving the second mounting frame 22 into the second clamping arm 21, the adjusting plate 2142 is continuously pushed downward by the meshing of the first circular gear 2143 and the second rack 2148, so that the capture hook 2122 continues to rotate counterclockwise and exits the valve tissue, and the first clamping arm 11 and the second clamping arm 21 clamp the valve tissue from both sides by using the third driving member 52 ( Figure 14 ); Finally, the fourth driving member 61 is started. The movable end of the fourth driving member 61 pushes the clamp ring 62 downward. During the downward movement of the clamp ring 62, the spring piece 63 is compressed so that its lower end tightens, and the nail 64 at the lower end of the spring piece 63 is disengaged from the guide rod 3, thereby realizing the separation of the clamping device from the delivery sheath 7, removing the redundant surgical tools, and completing the clamping operation on the mitral valve tissue.

[0038] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A clamping device, characterized in that: The invention comprises a first clamping mechanism (1), a second clamping mechanism (2), a guide rod (3) and a protective cover (4), wherein the first clamping mechanism (1) and the second clamping mechanism (2) are both sleeved on the guide rod (3), and the first clamping mechanism (1) is located outside the second clamping mechanism (2), one end of the guide rod (3) is connected to the inner wall of the protective cover (4), and the other end of the guide rod (3) extends outward from an opening of the protective cover (4), wherein: The first clamping mechanism (1) comprises at least two symmetrically distributed first clamping arms (11); The second clamping mechanism (2) comprises a second clamping arm (21) arranged corresponding to the first clamping arm (11), and the distal ends of the first clamping arm (11) and the second clamping arm (21) are both sleeved on the guide rod (3), and the proximal end of the second clamping arm (21) is connected to the guide rod (3) via a telescopic mechanism (5); The free ends of the first clamp arm (11) and the second clamp arm (21) are correspondingly connected with a first telescopic capture portion and a second telescopic capture portion, which are used to adjust the capture length of the first clamp arm (11) and the second clamp arm (21), respectively.

2. A clamping device according to claim 1, characterized in that: The first telescopic capture portion comprises a first capture head (111), an expansion piece (112) and a first driving piece (113); the first capture head (111) is connected to the free end of the first clamp arm (11); the expansion piece (112) is mounted on a mounting frame (12) of the first capture head (111); the first driving piece (113) is arranged inside the first clamp arm (11) and is connected to the mounting frame (12) via a hard ventilation pipe (114); the end of the hard ventilation pipe (114) is connected to the expansion piece (112).

3. A clamping device according to claim 2, characterized in that: A fixed baffle (116) is also provided inside the first clamp arm (11), a movable piston (115) is provided at the movable end of the first driving member (113), a hard ventilation pipe (114) penetrates the fixed baffle (116) and is connected to the movable piston (115), the first driving member (113) pushes the movable piston (115) to move in a direction close to the fixed baffle (116), and compressed gas through the movable piston (115) enters the interior of the expansion member (112) through the air inlet of the hard ventilation pipe (114).

4. A clamping device according to claim 1, characterized in that: The second telescopic capture portion comprises a second capture head (211), an auxiliary capture assembly (212) and a retractable fin (213); the second capture head (211) is connected to the free end of the second clamping arm (21); the auxiliary capture assembly (212) is connected to the second mounting frame (22) of the second capture head (211) via an adjustment assembly (214); and the retractable fin (213) is symmetrically arranged on both sides of the second mounting frame (22).

5. A clamping device according to claim 4, characterized in that: The auxiliary capture component (212) comprises a mounting shaft (2121) and a capture hook (2122). A plurality of mounting shafts (2121) are provided, each mounting shaft (2121) is movably connected to the second mounting frame (22), a plurality of capture hooks (2122) are evenly distributed on each mounting shaft (2121), and rotating wheels (2123) are provided at both ends of the mounting shaft (2121) to cooperate with the adjustment component (214) via the rotating wheels (2123).

6. A clamping device according to claim 5, characterized in that: The adjustment assembly (214) comprises a second driving member (2141), a gear group and an adjustment plate (2142); the second driving member (2141) is arranged inside the second clamping arm (21); the gear group and the adjustment plate (2142) are arranged in at least one group; a rack 1 (2147) is arranged at the end of the second driving member (2141); the rack 1 (2147) is meshed with the gear group; two ends of the adjustment plate (2142) are respectively provided with a rack 2 (2148) and a rack 3 (2149); the rack 2 (2148) is meshed with the gear group; and the rack 3 (2149) is matched with the rotating wheel (2123).

7. A clamping device according to claim 6, characterized in that: The gear set comprises a circular gear 1 (2143), a circular gear 2 (2144), an arc gear 1 (2145) and an arc gear 2 (2146); the circular gear 1 (2143) and the circular gear 2 (2144) are respectively fixedly connected in the second clamping arm (21), and the circular gear 1 (2143) and the circular gear 2 (2144) are meshed with each other; the arc gear 1 (2145) and the arc gear 2 (2146) are respectively arranged on the circular gear 1 (2143) and the circular gear 2 (2144) correspondingly; the circular gear 1 (2143) and the rack 2 (2148) are matched with each other; and the arc gear 1 (2145) and the arc gear 2 (2146) are respectively meshed with the rack 1 (2147) in an alternating manner.

8. A clamping device according to claim 4, characterized in that: The retractable fin (213) is a foldable structure composed of a plurality of fan-shaped pieces, the lower end of the retractable fin (213) is hinged to the second mounting frame (22), and a spring is provided between the retractable fin (213) and the second mounting frame (22).

9. A mitral valve repair system, characterized in that: It comprises a delivery sheath tube (7) and a clamping device according to any one of claims 1 to 8, wherein the delivery sheath tube (7) and the clamping device are detachably connected, and the guide rod (3) can move along the axial direction of the delivery sheath tube (7).

10. A mitral valve repair system according to claim 9, characterized in that: The inner side wall of the delivery sheath tube (7) is provided with a plurality of traction ropes, the extension direction of the traction ropes is parallel to the axis of the delivery sheath tube (7), and the curvature of the delivery sheath tube (7) can be changed by pulling the traction ropes.

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