Automatic butt-joint mounting device for hemostatic clips

Abstract

The invention relates to an automatic butt-joint mounting device for hemostatic clips. The automatic butt-joint mounting device comprises a rack, a butt-joint groove, a guide mechanism, a lifting table mechanism and a storage and release mechanism, the butt joint groove is used for containing the hemostatic clip box released from the bottom of the storage and release mechanism; the guide mechanism is used for guiding an outer tube and a clamping head of a butt joint instrument of the hemostatic clip; the inside of the storage and release mechanism is used for storing the hemostatic clip box, and the hemostatic clip box stored in the storage and release mechanism can be released downwards from the bottom; the lifting platform mechanism is used for bearing the hemostatic clip box released from the bottom of the storage and release mechanism; the lifting table mechanism can drive the hemostatic clip box to move up and down in the butt joint groove and release the empty hemostatic clip box. According to the device, automatic intelligent butt joint of the butt joint instrument and the hemostatic clip can be achieved, the technical problem of rapid clamping connection of the clamping head of the butt joint instrument and the hemostatic clip is solved, the participation and operation time of personnel in an operation is shortened, and the whole butt joint process is smoother, easier, safer and more environmentally friendly.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a mounting device for automatically docking a hemostatic clip with a docking device. Background Art

[0002] At present, in clinical medical applications, hemostatic clips are suitable for use with endoscopes. Under endoscopic visualization, hemostatic clips are placed in the upper and lower digestive tracts to perform mechanical hemostasis treatment on upper and lower digestive tract bleeding caused by various reasons. For example, arterial bleeding, persistent bleeding, bleeding from vascular stumps, etc. During the operation of hemostatic clips, most hemostatic clips and docking devices are of one-piece structure. After release, the docking device as a whole cannot be used again, which is a serious waste. Although some hemostatic clips and docking devices can be docked, they need to be installed manually. For medical staff, it is not only cumbersome to operate, but also easy to cause secondary pollution, which is very inconvenient to use. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic docking and installation device for a hemostatic clip to solve the above technical problems.

[0004] To achieve the above-mentioned purpose, the automatic docking and installation device for hemostatic clips provided by the present invention comprises a frame, a docking groove, a guide mechanism, a lifting platform mechanism and a storage and release mechanism;

[0005] The docking groove is used to accommodate the hemostatic clip cartridge released from the bottom of the storage release mechanism, so that the docking instrument can extend into the interior of the hemostatic clip cartridge to dock with the hemostatic clip;

[0006] The guide mechanism is located at the front side of the docking groove, and is used to guide the outer tube and the clamp of the docking device of the hemostatic clip, so as to guide the clamp from front to back into the docking groove, and during the guiding process, the clamp is rotated to an angle and orientation capable of being clamped with the hemostatic clip in the hemostatic clip box;

[0007] The storage release mechanism is located above the docking groove, and is used to store the hemostatic clip cartridge therein, and can release the hemostatic clip cartridge stored therein from the bottom downward;

[0008] The lifting platform mechanism is located at the rear side of the docking slot, and is used to carry the hemostatic clip box released from the bottom of the storage release mechanism; the lifting platform mechanism can drive the hemostatic clip box to move up and down in the docking slot so that the hemostatic clip box is in the docking position, and can release the empty hemostatic clip box from the docking slot after the docking is completed and the docking instrument drives the hemostatic clip to detach from the hemostatic clip box.

[0009] Optionally, the guiding mechanism includes a guiding driving member, a left guiding block, a right guiding block, and a transverse guide rail; the left guiding block and the right guiding block are symmetrically installed on the transverse guide rail, and the guiding driving member is connected to the left guiding block and the right guiding block through a left connecting rod and a right connecting rod to drive the left guiding block and the right guiding block to perform opening and closing actions; semi-guiding holes are provided on the mating surfaces of the left guiding block and the right guiding block, and the semi-guiding holes form a guiding hole for guiding the outer tube and the chuck of the docking instrument after mating.

[0010] Optionally, the guiding hole formed after the left guiding block and the right guiding block are mated includes a first guiding hole, a clamping hole, and a second guiding hole; the first guiding hole is used for guiding the outer tube of the docking instrument, the clamping hole is used for clamping the outer tube after the outer tube of the docking instrument moves in place, and the second guiding hole is used for rotationally guiding the chuck that continues to move forward of the docking instrument so that the constraint plane of the chuck is parallel to the constraint plane of the hemostatic clip.

[0011] Optionally, the cross-section of the second guiding hole is square, and a local rotation guiding surface corresponding to each edge is provided at the entrance end thereof.

[0012] Optionally, the local rotation guiding surface is in a locally flared shape, and in the front-rear direction, its width gradually decreases from the side away from the edge to the side corresponding to the edge.

[0013] Optionally, the local rotation guiding surface is a spiral surface, an inclined plane, or an arc surface.

[0014] Optionally, the guiding driving member is an electric cylinder, the transverse guide rail includes an upper guide rail and a lower guide rail, the head of the electric cylinder is rotationally connected to the left connecting rod and the right connecting rod, the left connecting rod and the right connecting rod are respectively rotationally connected to the left guiding block and the right guiding block, and the left guiding block and the right guiding block are slidably engaged with the upper guide rail and the lower guide rail; when the head of the electric cylinder extends, the left guiding block and the right guiding block separate from each other at both ends, and when the head of the electric cylinder contracts, the left guiding block and the right guiding block merge towards the middle.

[0015] Optionally, the lifting table mechanism includes a first lifting opening and closing plate and a second lifting opening and closing plate, the first lifting opening and closing plate and the second lifting opening and closing plate are installed on an opening and closing driving mechanism, and the opening and closing driving mechanism is installed on a lifting driving mechanism; the lifting driving mechanism is used for driving the first lifting opening and closing plate and the second lifting opening and closing plate to lift in the docking groove, and the opening and closing driving mechanism is used for driving the first lifting opening and closing plate and the second lifting opening and closing plate to open and close when they are located below the docking groove.

[0016] Optionally, the opening and closing drive mechanism includes an opening and closing drive motor, a bidirectional screw, and an opening and closing guide rail. The opening and closing drive motor is in transmission connection with the horizontally arranged bidirectional screw. The first lifting opening and closing plate and the second lifting opening and closing plate are matched with the reverse threaded parts of the bidirectional screw through a first moving block and a second moving block, and the first moving block and the second moving block are slidably matched with the opening and closing guide rail.

[0017] Optionally, the lifting drive mechanism includes a lifting drive motor, a unidirectional screw, and a lifting guide rail. The lifting drive motor is in transmission connection with the vertically arranged unidirectional screw. The opening and closing guide rail is slidably matched with the lifting guide rail and is matched with the unidirectional screw through a third moving block.

[0018] Optionally, the storage and release mechanism includes a standby bin and a standby bin delivery mechanism; the standby bin delivery mechanism is located above the docking groove, and the standby bin is installed on the standby bin delivery mechanism; the standby bin delivery mechanism is used to drive the standby bin to move up and down together to release the hemostatic clip box stored inside from the bottom of the standby bin.

[0019] Optionally, the shell of the standby bin has a cavity for accommodating a plurality of hemostatic clip boxes. A pressing member elastically supported downward by a first spring is provided at the upper part of the cavity. The hemostatic clip boxes are stacked and stored below the pressing member; a hemostatic clip box release port is provided at the bottom of the cavity, and box body buckles supported by second springs are provided on both sides of the release port. The box body buckles limit the hemostatic clip boxes placed in the standby bin within the cavity.

[0020] Optionally, upwardly protruding release mating parts are provided on both sides of the docking groove. The release mating parts are provided with inclined surfaces that can cooperate with the box body buckles of the standby bin, so that when the standby bin moves downward relative to the docking groove, the box body buckles are triggered, and the box body buckles release the restriction on the lowermost hemostatic clip box for one-time release.

[0021] Optionally, the standby bin delivery mechanism includes a rotating motor, an eccentric disc, a connecting rod, a slider, a delivery guide rail, and a moving bin; the eccentric disc is provided at the output end of the rotating motor. An eccentric circular protrusion at one end of the eccentric disc is rotatably connected to the connecting rod, the connecting rod is rotatably connected to the slider, the slider is slidably connected to the vertically arranged delivery guide rail, one end of the slider passing through the delivery guide rail is connected to the moving bin, and the standby bin is installed on the moving bin.

[0022] Optionally, fixing holes are provided on the shell of the standby bin, and the moving bin is provided with elastic buckles that can cooperate with the fixing holes to fix the standby bin in the moving bin. The elastic buckles are provided with handles for operation.

[0023] Optionally, it further includes a consumable recycling bin, which is located below the docking slot and is used to receive the empty hemostatic clip box released from the docking slot.

[0024] The automatic docking and installation device for hemostatic clips provided by the present invention, through the coordinated cooperation of the docking slot, the guiding mechanism, the lifting table mechanism and the storage and release mechanism, can automatically pick up and discard the hemostatic clip box, and can guide the outer tube and the chuck of the docking instrument, so that the chuck can be aligned with the hemostatic clips in the hemostatic clip box, and finally realize the automatic and intelligent docking of the docking instrument and the hemostatic clip. It very humanely solves the technical problem of how to quickly connect the chuck of the docking instrument with the hemostatic clip, reduces the participation and operation time of the intraoperative personnel, and makes the whole docking process smoother, easier, safer and more environmentally friendly. Description of the Drawings

[0025] Figure 1 Is an axonometric view of the automatic docking and installation device for hemostatic clips provided by an embodiment of the present invention;

[0026] Figure 2 Is Figure 1 The top view of the shown automatic docking and installation device for hemostatic clips;

[0027] Figure 3 Is Figure 1 The right view of the shown automatic docking and installation device for hemostatic clips;

[0028] Figure 4 Is Figure 1 The schematic diagram of the shown automatic docking and installation device for hemostatic clips after disassembling the outer shell and the consumable recycling bin;

[0029] Figure 5 Is Figure 4 The axonometric view of the shown automatic docking and installation device for hemostatic clips after removing the outer shell;

[0030] Figure 6 Is Figure 5 The exploded structural schematic diagram of;

[0031] Figure 7 Is Figure 5 The front view of;

[0032] Figure 8 Is Figure 7 The top view of;

[0033] Figure 9 Is Figure 7 The right view of;

[0034] Figure 10 Is Figure 9 The A-A view of;

[0035] Figure 11 IsFigure 9 The B-B view of

[0036] Figure 12 is Figure 6 The structural schematic diagram of the guiding mechanism shown in

[0037] Figure 13 is Figure 6 The exploded structural schematic diagram of the guiding mechanism shown in

[0038] Figure 14 is Figure 6 The top view of the guiding mechanism shown in

[0039] Figure 15 is Figure 14 The A-A view of

[0040] Figure 16 is Figure 15 The B-B view of

[0041] Figure 17 The mating schematic diagram of the left guiding block and the right guiding block

[0042] Figure 18 is Figure 17 The A-A view of

[0043] Figure 19 is Figure 17 The B-B view of

[0044] Figure 20 The isometric view when the left guiding block and the right guiding block guide the outer tube of the docking instrument

[0045] Figure 21 The top view when the left guiding block and the right guiding block guide the outer tube of the docking instrument

[0046] Figure 22 The front view when the left guiding block and the right guiding block guide the outer tube of the docking instrument

[0047] Figure 23 is Figure 22 The D-D view of

[0048] Figure 24 The isometric view when the left guiding block and the right guiding block guide the chuck of the docking instrument

[0049] Figure 25 The top view when the left guiding block and the right guiding block guide the chuck of the docking instrument

[0050] Figure 26 is Figure 25 The E-E view of

[0051] Figure 27 is Figure 26 the F-F view of

[0052] Figure 28 the isometric view when the left and right guiding blocks guide the chuck of the docking instrument;

[0053] Figure 29 the top view when the left and right guiding blocks guide the chuck of the docking instrument;

[0054] Figure 30 is Figure 29 the E-E view of

[0055] Figure 31 is Figure 30 the F-F view of

[0056] Figure 32 the isometric view of the lifting table mechanism;

[0057] Figure 33 is Figure 32 the exploded structural schematic diagram of the lifting table mechanism shown in

[0058] Figure 34 the overall structural schematic diagram of the standby bin;

[0059] Figure 35 is Figure 34 the exploded structural schematic diagram of the standby bin shown in

[0060] Figure 36 is Figure 34 the front view of the standby bin shown in

[0061] Figure 37 is Figure 36 the A-A view of

[0062] Figure 38 is Figure 37 the B-B view of

[0063] Figure 39 the isometric view of the cooperation between the standby bin delivery mechanism and the standby bin;

[0064] Figure 40 is Figure 39 the exploded structural schematic diagram of

[0065] Figure 41 the front view of the cooperation between the standby bin delivery mechanism and the standby bin;

[0066] Figure 42 is Figure 41 the sectional view of

[0067] Figure 43 is Figure 41EE view;

[0068] Figure 44 A schematic diagram of the structure of the automatic docking and installation device for hemostatic clips executing the first step;

[0069] Figure 45 for Figure 44 AA view;

[0070] Figure 46 for Figure 45 A partial enlarged view of the release mating portion of the middle docking slot triggering the box body buckle through the inclined surface;

[0071] Figure 47 A schematic diagram of the structure of the hemostatic clip automatic docking and installation device executing the second step;

[0072] Figure 48 for Figure 47 AA view;

[0073] Figure 49 for Figure 48 A partial enlarged view of the hemostatic clip box after the middle box body buckle is reset and re-constrained;

[0074] Figure 50 A schematic diagram of the structure of the hemostatic clip automatic docking and installation device executing the third step;

[0075] Figure 51 for Figure 50 BB view;

[0076] Figure 52 for Figure 51 A partial enlarged schematic diagram of the middle pipe and the clamp passing through the guide mechanism;

[0077] Figure 53 A schematic diagram of the structure of the hemostatic clip automatic docking and installation device executing the fourth step;

[0078] Figure 54 for Figure 53 BB view;

[0079] Figure 55 for Figure 54 DD view;

[0080] Figure 56 for Figure 54 CC view;

[0081] Figure 57 for Figure 54 A partial enlarged schematic diagram of the middle pipe and the clamp passing through the guide mechanism;

[0082] Figure 58 for Figure 55A partially enlarged schematic diagram of the middle pipe and the clamp passing through the guide mechanism and being clamped with the hemostatic clip;

[0083] Figure 59 for Figure 56 A partially enlarged schematic diagram of the middle pipe and the clamp passing through the guide mechanism and being clamped with the hemostatic clip;

[0084] Figure 60 A schematic diagram of the structure of the hemostatic clip automatic docking and installation device executing the fifth step;

[0085] Figure 61 for Figure 60 BB view;

[0086] Figure 62 for Figure 61 DD view;

[0087] Figure 63 for Figure 61 CC view;

[0088] Figure 64 for Figure 61 A partial enlarged schematic diagram of the middle pipe and the clamp driving the hemostatic clip to move outward;

[0089] Figure 65 for Figure 62 A partially enlarged schematic diagram of the middle pipe and the clamp driving the hemostatic clip to move outward;

[0090] Figure 66 for Figure 63 A partial enlarged schematic diagram of the middle pipe and the clamp driving the hemostatic clip to move outward;

[0091] Figure 67 A schematic diagram of the structure of the hemostatic clip automatic docking installation device executing the sixth step (the docking groove is omitted);

[0092] Figure 68 for Figure 67 BB view;

[0093] Figure 69 for Figure 68 DD view;

[0094] Figure 70 for Figure 68 CC view;

[0095] Figure 71 for Figure 69 A partially enlarged schematic diagram of the guide mechanism where the middle pipe and the clamp drive the hemostatic clip to move outward;

[0096] Figure 72 for Figure 70 A partially enlarged schematic diagram of the guide mechanism in which the middle pipe and the clamp drive the hemostatic clip to move outward.

[0097] In the figure:

[0098] 1-housing; 2-frame; 3-docking groove; 31-release mating part; 311-inclined surface; 4-guide mechanism; 41-support plate; 42-guide drive member; 43-left guide block; 44-right guide block; 45-transverse guide rail; 451-upper guide rail; 452-lower guide rail; 46-left connecting rod; 47-right connecting rod; 481-first guide hole; 482-clamping hole; 483-second guide hole; 4831-partial rotation guide surface; 5-lifting platform mechanism; 51-first lifting opening and closing plate; 52-second lifting opening and closing plate; 53-opening and closing drive mechanism; 531-opening and closing drive motor; 532-bidirectional screw; 533-opening and closing guide rail; 534-first moving block; 535-second moving block; 54-lifting drive mechanism; 541-lifting drive motor; 542-unidirectional screw; 543-lifting guide Rail; 544-third moving block; 55-upper detection sensor; 56-lower detection sensor; 6-storage release mechanism; 61-standby bin; 62-standby bin delivery mechanism; 611-first spring; 612-second spring; 613-pushing component; 614-box body buckle; 6141-rear baffle; 615-fixing hole; 621-rotating motor; 622-eccentric shaft disk; 6221-eccentric circular protrusion; 623-connecting rod; 624-slider; 625-delivery guide rail; 626-movable bin; 6261-elastic buckle; 6262-handle; 627-fixed plate; 628-upper detection switch; 629-lower detection switch; 6210-detection plate; 7-consumables recovery bin; 8-hemostatic clip box; 81-hemostatic clip; 9-docking instrument; 91-outer tube; 92-clip head; 10-guide tube. DETAILED DESCRIPTION

[0099] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0100] In this article, the terms "upper, lower, inside, outside" and the like are established based on the positional relationships shown in the drawings. The corresponding positional relationships may also change depending on the drawings, and therefore cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" and the like are merely used to distinguish one component from another with the same name, and do not necessarily require or imply any actual relationship or order between these components.

[0101] Please refer to Figures 1 to 11 , Figure 1 An isometric view of an automatic docking and installation device for a hemostatic clip provided in an embodiment of the present invention; Figure 2 for Figure 1Top view of the automatic docking and installation device for the hemostatic clip shown Figure 3 is Figure 1 Right view of the automatic docking and installation device for the hemostatic clip shown Figure 4 is Figure 1 Schematic diagram of the automatic docking and installation device for the hemostatic clip shown after disassembling the outer shell and the consumable recycling bin Figure 5 is Figure 4 Axonometric view of the automatic docking and installation device for the hemostatic clip shown after removing the outer shell Figure 6 is Figure 5 Exploded structure schematic diagram of Figure 7 is Figure 5 Front view of Figure 8 is Figure 7 Top view of Figure 9 is Figure 7 Right view of Figure 10 is Figure 9 A - A view of Figure 11 is Figure 9 B - B view of

[0102] As shown in the figure, in a specific embodiment, the automatic docking and installation device for the hemostatic clip provided by the present invention mainly consists of an outer shell 1, a frame 2, a docking groove 3, a guiding mechanism 4, a lifting table mechanism 5, a storage and release mechanism 6, a consumable recycling bin 7, etc. Among them, the frame 2 is used to fix each component and the outer shell 1 and plays a supporting role.

[0103] The docking groove 3 is in a shape with a border around it, and openings are provided at both the front end and the rear end. The docking groove 3 is generally located at the center of the entire device, and it is fixed to the guiding mechanism 4 and is located at the rear side of the guiding mechanism 4. The guiding mechanism 4 is installed on the frame 2 with a base. The docking groove 3 is mainly used to accommodate the hemostatic clip box 8 released from the bottom of the storage and release mechanism 6, so that the docking instrument 9 can dock with the hemostatic clip 81 in the hemostatic clip box 8 in the docking groove 3.

[0104] The guiding mechanism 4 is located at the front side of the docking groove 3 and is used to guide the outer tube 91 and the chuck 92 of the docking instrument 9 for the hemostatic clip 81, so as to guide the chuck 92 from the front to the rear into the docking groove 3, and rotate the chuck 92 to an angle and orientation that can be engaged with the hemostatic clip 81 in the hemostatic clip box 8 during the guiding process.

[0105] The storage and release mechanism 6 is located above the docking groove 3, and its interior is used to store the hemostatic clip box 8 and can release the hemostatic clip boxes 81 stored inside one by one from the bottom downwards.

[0106] The lifting table mechanism 5 is located at the rear side of the docking groove 3 and is used to carry the hemostatic clip box 8 released from the bottom of the storage and release mechanism 6; the lifting table mechanism 5 can drive the hemostatic clip box 8 to move up and down inside the docking groove 3 so that the hemostatic clip box 8 is in the docking position, and can release the empty hemostatic clip box 8 from the docking groove 3 after the docking is completed and the docking instrument 9 drives the hemostatic clip 81 to break away from the hemostatic clip box 8.

[0107] The consumable recycling bin 7 is located below the docking groove 3 to automatically and uniformly hold the empty hemostatic clip boxes 8 released from the docking groove 3, realizing centralized treatment of used consumables and being more environmentally friendly.

[0108] Please then refer to Figures 12 to 19 , Figure 12 is Figure 6 the structural schematic diagram of the guiding mechanism shown in Figure 13 is Figure 6 the exploded structural schematic diagram of the guiding mechanism shown in Figure 14 is Figure 6 the top view of the guiding mechanism shown in Figure 15 is Figure 14 the A-A view of Figure 16 is Figure 15 the B-B view of Figure 17 is the mating schematic diagram of the left guiding block and the right guiding block; Figure 18 is Figure 17 the A-A view of Figure 19 is Figure 17 the B-B view of

[0109] As shown in the figure, the guiding mechanism 4 is mainly used to guide the chuck 92 of the docking instrument 9 to a specific angle and orientation to facilitate docking with the hemostatic clip 81. It is provided with two guiding blocks that can open and close with each other. After being combined, they can clamp the outer tube 91 of the docking instrument 9 tightly. A channel for the docking instrument to enter is arranged inside the guiding tube 10 to guide the docking instrument 9 to the guiding mechanism 4.

[0110] Specifically, the guiding mechanism 4 is mainly composed of a support plate 41, a guiding driving part 42, a left guiding block 43, a right guiding block 44, a transverse guide rail 45 and other parts. Among them, the support plate 41 is used to fix the components of the guiding mechanism 4.

[0111] The left guiding block 43 and the right guiding block 44 are symmetrically installed on the transverse guide rail 45. In this embodiment, the guiding driving member 42 is an electric cylinder. The transverse guide rail 45 is divided into an upper guide rail 451 and a lower guide rail 452. The upper guide rail 451 and the lower guide rail 452 jointly constrain the two left guiding blocks 43 and the right guiding blocks 44 to move linearly. The left connecting rod 46 and the right connecting rod 47 are arranged in a V shape. The head of the guiding driving member 42 is rotatably connected to one ends of the left connecting rod 46 and the right connecting rod 47. The other ends of the left connecting rod 46 and the right connecting rod 47 are respectively rotatably connected to the left guiding block 43 and the right guiding block 44. The left guiding block 43 and the right guiding block 44 are in sliding fit with the upper guide rail 451 and the lower guide rail 452. When the head of the guiding driving member 42 extends, the left guiding block 43 and the right guiding block 44 separate from each other towards both ends. When the head of the guiding driving member 42 contracts, the left guiding block 43 and the right guiding block 44 merge towards the middle.

[0112] Semi-guiding holes are provided on the mating surfaces of the left guiding block 43 and the right guiding block 44. After the two semi-guiding holes are mated, a guiding hole is formed for guiding the outer tube 91 and the chuck 92 of the docking instrument.

[0113] Specifically, the guiding hole formed after the left guiding block 43 and the right guiding block 44 are mated is, in sequence from front to back, a first guiding hole 481, a clamping hole 482, and a second guiding hole 483. Among them, the first guiding hole 481 is in the shape of a flared horn and is used for guiding the outer tube 91 of the docking instrument 9. The clamping hole 482 is used for clamping the outer tube 91 after the outer tube 91 of the docking instrument 9 moves into place. The second guiding hole 483 is used for rotationally guiding the continuously advancing chuck 92 so that the constraint plane of the chuck 92 is parallel to the constraint plane of the hemostatic clip 81.

[0114] In this embodiment, the chuck 92 is generally conical, and there are a total of four constraint planes around the bottom. The cross-section of the second guiding hole 483 is square, which is adapted to the shape formed by enclosing the four constraint planes of the chuck 92. The entrance end thereof is provided with local rotation guiding surfaces 4831 corresponding to each edge. The four local rotation guiding surfaces 4831 are rotationally symmetric about the central axis of the second guiding hole 483. Each local rotation guiding surface 4831 is in the shape of a locally flared opening, and in the front-back direction, its width gradually becomes smaller from the side away from the edge to the side corresponding to the edge. Specifically, it can be a spiral surface, an inclined surface, or an arc surface.

[0115] Please continue to refer to Figures 20 to 31 , Figure 20 is an axonometric view when the left guiding block and the right guiding block guide the outer tube of the docking instrument; Figure 21 is a top view when the left guiding block and the right guiding block guide the outer tube of the docking instrument; Figure 22 is a front view when the left guiding block and the right guiding block guide the outer tube of the docking instrument; Figure 23 is Figure 22The D-D view; Figure 24 An isometric view when the left guiding block and the right guiding block guide the chuck of the docking instrument; Figure 25 A top view when the left guiding block and the right guiding block guide the chuck of the docking instrument; Figure 26 For Figure 25 The E-E view of Figure 27 For Figure 26 The F-F view of Figure 28 An isometric view when the left guiding block and the right guiding block guide the chuck of the docking instrument; Figure 29 A top view when the left guiding block and the right guiding block guide the chuck of the docking instrument; Figure 30 For Figure 29 The E-E view of Figure 31 For Figure 30 The F-F view of

[0116] As shown in the figure, when docking, the left guiding block 43 and the right guiding block 44 of the guiding mechanism 4 first open a small opening, allowing the outer tube 91 of the docking instrument 9 to enter, but only to the position where the end of the first guiding hole 481 is located. At this time, the outer tube 91 and the chuck 92 move together, and the chuck 92 is completely inside the outer tube 91.

[0117] When the outer tube 91 moves in place, the left guiding block 43 and the right guiding block 44 merge, clamp the outer tube 91 through the clamping hole 482. At this time, the chuck 92 continues to enter. When the chuck 92 contacts the partial rotation guiding surface 4831 of the second guiding hole 482, the partial rotation guiding surface 4831 will restrict the chuck 92 to rotate forward towards the outlet. When the chuck 92 passes through the two guiding blocks, the restricting plane of the chuck 92 is parallel to the restricting surface of the hemostatic clip 81 to facilitate the clamping connection between the two.

[0118] Please refer to Figure 32 、 Figure 33 , Figure 32 An isometric view of the lifting table mechanism; Figure 33 For Figure 32 The exploded structural schematic diagram of the lifting table mechanism shown in

[0119] As shown in the figure, the lifting table mechanism 5 is provided with two first lifting opening and closing plates 51 and second lifting opening and closing plates 52 that can open and close with each other and move up and down together. It is mainly used to deliver the hemostatic clip box 8 coming out of the standby bin 61 to the docking position, and then separate from each other to release the used hemostatic clip box 8 into the consumable recycling bin 7.

[0120] The first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 are installed on the opening and closing driving mechanism 53, and the opening and closing driving mechanism 53 is installed on the lifting driving mechanism 54. The lifting driving mechanism 54 is used to drive the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 to lift in the docking groove 3, and the opening and closing driving mechanism 53 is used to drive the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 to open and close below the docking groove 3.

[0121] Specifically, the opening and closing drive mechanism 53 is mainly composed of an opening and closing drive motor 531, a bidirectional screw 532 and an opening and closing guide rail 533. The bidirectional screw 532 is arranged horizontally, and the opening and closing drive motor 531 is transmission-connected with the bidirectional screw 532. The first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 are matched with the reverse threaded portion of the bidirectional screw 532 through the first moving block 534 and the second moving block 535. The first moving block 534 and the second moving block 535 are slidingly matched with the opening and closing guide rail 533.

[0122] The lifting drive mechanism 54 is mainly composed of a lifting drive motor 541, a one-way screw 542 and a lifting guide rail 543. The one-way screw 542 is vertically arranged, and the lifting drive motor 541 is transmission-connected with the one-way screw 542. The opening and closing guide rail 533 is slidingly matched with the lifting guide rail 543 and matched with the one-way screw 542 through the third moving block 544.

[0123] When the opening and closing driving motor 531 rotates, the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 will move relative to each other to open and close. When the lifting driving motor 541 rotates, the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 will make vertical linear motion together.

[0124] The upper detection sensor 55 and the lower detection sensor 56 are fixed on the side of the lifting guide rail 543 , and the up and down movement range of the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 can be restricted by detecting the opening and closing guide rail 533 .

[0125] Please refer to Figures 34 to 43 , Figure 34 The overall structural diagram of the standby warehouse is shown in FIG. Figure 35 for Figure 34 The schematic diagram of the exploded structure of the standby warehouse shown; Figure 36 for Figure 34 The front view of the standby bin shown; Figure 37 for Figure 36 AA view; Figure 38 for Figure 37 BB view; Figure 39 It is an axonometric view of the standby bin delivery mechanism cooperating with the standby bin; Figure 40 for Figure 39 Schematic diagram of the decomposition structure; Figure 41Front view of the standby bin delivery mechanism cooperating with the standby bin; Figure 42 It is Figure 41 sectional view of; Figure 43 It is Figure 41 E - E view of.

[0126] As shown in the figure, the storage and release mechanism 6 mainly consists of a standby bin 61 and a standby bin delivery mechanism 62. The standby bin delivery mechanism 62 is located above the docking groove 3. The standby bin 61 is installed on the standby bin delivery mechanism 62. The standby bin delivery mechanism 62 is used to drive the standby bin 61 to move up and down together to release the hemostatic clip box 8 stored inside from the bottom of the standby bin 61.

[0127] Specifically, the shell of the standby bin 61 has a cavity for accommodating a plurality of hemostatic clip boxes. At the upper part of the cavity, there is a pressing component 613 elastically supported downward by a first spring 611. The lower part of the pressing component 613 is used for stacking and storing the hemostatic clip boxes 8. At the bottom of the cavity, there is a hemostatic clip box release opening. On both sides of the release opening, there are box body buckles 614 supported by a second spring 612. The box body buckles 614 restrict the hemostatic clip box 8 placed in the standby bin 61 within the cavity and prevent it from detaching. And the box body buckle 614 is designed with an inclined surface. On the one hand, it can well press the hemostatic clip box 8 into the bin. On the other hand, it can cooperate with the inclined surface 311 of the release cooperation part 31 of the convex part of the docking groove 3 to release the hemostatic clip box 8. The first spring 611 presses the loaded hemostatic clip box 8 tightly to the release opening, facilitating the cooperation with the docking groove 3 to release the hemostatic clip 8.

[0128] The box body buckle 614 can slide and cooperate at the openings on both sides of the end of the shell of the standby bin 61. The rear end abuts against the second spring 612, and the other end of the second spring 612 abuts against the rear baffle 6141, and the rear baffle 6141 is fixed on the shell of the standby bin 61.

[0129] The standby bin delivery mechanism 62 is installed on the frame 2, can be quickly clamped with the standby bin 61, and drives the standby bin 61 to move relative to the docking groove 3. Each movement will release a hemostatic clip box 8 for docking operation.

[0130] The internal space of the docking groove 3 can accommodate the hemostatic clip box 8 and the merged first lifting and opening - closing plate 51 and second lifting and opening - closing plate 52. On both sides of it, there are upward - protruding release cooperation parts 31. The release cooperation parts 31 are provided with inclined surfaces 311 that can cooperate with the box body buckles 614 of the standby bin 61. When the standby bin 61 moves downward relative to the docking groove 3, it triggers the box body buckle 614, causing the box body buckle 614 to release the restriction on the lowermost hemostatic clip box 8 for one - time release.

[0131] Specifically, the standby cartridge delivery mechanism 62 mainly consists of components such as a rotary motor 621, an eccentric shaft disk 622, a connecting rod 623, a slider 624, a delivery guide rail 625, and a moving cartridge 626; the eccentric shaft disk 622 is provided at the output end of the rotary motor 621, and the eccentric circular protrusion 6221 at one end of the eccentric shaft disk 622 is rotatably connected to the connecting rod 623, the connecting rod 623 is rotatably connected to the slider 624, the delivery guide rail 625 is arranged vertically, the slider 624 is slidably connected to the T-shaped groove of the delivery guide rail 625, and the delivery guide rail 625 is provided with a vertical chute at the bottom of its T-shaped groove. One end of the slider 624 passing through the vertical chute of the delivery guide rail 625 is connected to the moving cartridge 626 through a fixing plate 627.

[0132] The standby cartridge 61 is installed in the moving cartridge 626. The housing of the standby cartridge 61 is provided with a fixing hole 615, and the moving cartridge 626 is provided with an elastic buckle 6261 that cooperates with the fixing hole 615 to fix the standby cartridge 61 in the moving cartridge 626. The elastic buckle 6261 is provided with a handle 6262 for operation. Pulling the handle 6262 outwards can release the lock, and then the standby cartridge 61 can be taken out.

[0133] The upper detection switch 628 and the lower detection switch 629 are fixed on the brackets of the delivery guide rail 625 and the rotary motor 621. By detecting the detection plate 6210 on the slider 624, the initial angular position information of the rotation of the rotary motor 621 is determined.

[0134] During operation, the left guide block 43 and the right guide block 44 provided in the guiding mechanism 4 can automatically open and close. After being combined, the non-circular chuck 92 to be docked can be rotated to a specific direction position after guiding and then be clamped together with the head of the hemostatic clip 81 in the hemostatic clip box 8; the lifting table mechanism 5 is provided with a first lifting opening and closing plate 51 and a second lifting opening and closing plate 52, which can move relatively to open and close, or can move up and down together to receive the hemostatic clip box 8 coming out of the standby cartridge 61 and deliver it to the assembly position. After the hemostatic clip 81 is pulled out, they can be separated from each other to make way for the hemostatic clip box 8 to drop into the consumable recycling bin 7; the standby cartridge delivery mechanism 62 is provided with a movable cartridge 626 that can move up and down. The movable cartridge 626 is used to quickly hold the standby cartridge 61, and each time it moves downward, a hemostatic clip box 8 is released. The standby cartridge 61 is used to store the hemostatic clip box 8 containing the hemostatic clip 81, and the consumable recycling bin 7 is used to store the used hemostatic clip box 8.

[0135] Such as Figures 44 to 46As shown, when the automatic docking and installation device for the hemostatic clip executes the first step, the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 merge and rise to the highest point in the docking groove 3, and then the standby bin delivery mechanism 62 descends to the lowest point, and the box body buckle 614 in the standby bin 61 contacts the release mating part 31 of the docking groove 3, forcing the box body buckle 614 to move out of its original position, releasing a hemostatic clip box 8, which falls on the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52.

[0136] like Figures 47 to 49 As shown, when the automatic docking and installation device for the hemostatic clip executes the second step, the standby bin delivery mechanism 62 moves upward to the highest point, the box body buckle 614 in the standby bin 61 disengages from the release mating portion 31 of the docking groove 3, returns to the original position, and continues to restrict the remaining hemostatic clip box 8 in the standby bin 61, and the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 move downward to the docking position.

[0137] like Figures 50 to 52 As shown, when the automatic docking and installation device for the hemostatic clip executes the third step, the left guide block 43 and the right guide block 44 of the guide mechanism 4 are separated by a certain distance, so that the outer tube 91 of the docking instrument 9 can enter and contact with the internal guide surface. Then, the outer tube 91 of the docking instrument 9 and the clamp 92 are delivered from the guide tube 10 to the specified position together. At this time, the clamp 92 is on the inner side of the outer end surface of the outer tube 91.

[0138] like Figures 53 to 59 As shown, when the automatic docking and installation device for the hemostatic clip executes the fourth step, the left guide block 43 and the right guide block 44 of the guide mechanism 4 are closed, the outer tube 91 is clamped through the clamping hole 482, and the clamp head 92 is continuously delivered forward to pass through the second guide hole 483 and enter the interior of the hemostatic clip box 8 to dock with the hemostatic clip 81.

[0139] like Figures 60 to 66 As shown, when the hemostatic clip automatic docking installation device executes the fifth step, the left guide block 43 and the right guide block 44 of the guide mechanism 4 are opened to the maximum, and then the clamping head 92 is pulled backward. When the hemostatic clip 81 contacts the outer tube 91, the outer tube 91 and the clamping head 92 are pulled backward together.

[0140] like Figures 67 to 72 As shown, when the automatic docking installation device for the hemostatic clip performs the sixth step, after the hemostatic clip 81 is pulled into the guide tube 10, the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 are separated, and the hemostatic clip box 8 remaining in the original position is released into the consumable material recovery bin 7 at the lower part, and then the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 as well as the left guide block 43 and the right guide block 44 are closed. When the hemostatic clip 81 is pulled out of the guide tube 10, one docking installation is completed, and the above-mentioned actions can be repeated to perform docking installation again.

[0141] The above has introduced in detail the hemostatic clip automatic docking and installation device provided by the present invention. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An automatic docking and installation device for hemostatic clips, characterized in that, It includes a frame, a docking slot, a guide mechanism, a lifting platform mechanism, and a storage release mechanism; The docking groove is used to accommodate the hemostatic clip cartridge released from the bottom of the storage release mechanism, so that the docking instrument can extend into the interior of the hemostatic clip cartridge to dock with the hemostatic clip; The guide mechanism is located at the front side of the docking groove, and is used to guide the outer tube and the clamp of the docking device of the hemostatic clip, so as to guide the clamp from front to back into the docking groove, and during the guiding process, the clamp is rotated to an angle and orientation capable of being clamped with the hemostatic clip in the hemostatic clip box; The storage release mechanism is located above the docking groove, and is used to store the hemostatic clip cartridge therein, and can release the hemostatic clip cartridge stored therein from the bottom downward; The lifting platform mechanism is located at the rear side of the docking slot, and is used to carry the hemostatic clip box released from the bottom of the storage release mechanism; the lifting platform mechanism can drive the hemostatic clip box to move up and down in the docking slot so that the hemostatic clip box is in the docking position, and can release the empty hemostatic clip box from the docking slot after the docking is completed and the docking instrument drives the hemostatic clip to detach from the hemostatic clip box.

2. The hemostatic clip automatic docking and installation device according to claim 1, characterized in that The guide mechanism includes a guide drive, a left guide block, a right guide block and a transverse guide rail; the left guide block and the right guide block are symmetrically installed on the transverse guide rail, and the guide drive is connected to the left guide block and the right guide block through a left connecting rod and a right connecting rod to drive the left guide block and the right guide block to perform opening and closing actions; semi-guide holes are provided on the mating surfaces of the left guide block and the right guide block, and the semi-guide holes are mated to form guide holes for guiding the outer tube and the clamping head of the docking instrument.

3. The hemostatic clip automatic docking and installation device according to claim 2, characterized in that, The guide holes formed after the left guide block and the right guide block are matched include a first guide hole, a clamping hole and a second guide hole; the first guide hole is used to guide the outer tube of the docking instrument, the clamping hole is used to clamp the outer tube of the docking instrument after the outer tube moves into place, and the second guide hole is used to rotationally guide the clamping head of the docking instrument to continue to move forward, so that the constraint plane of the clamping head is parallel to the constraint plane of the hemostatic clip.

4. The hemostatic clip automatic docking and installation device according to claim 3, characterized in that, The cross section of the second guide hole is square, and a local rotation guide surface corresponding to each edge is provided at the entrance end of the second guide hole.

5. The hemostatic clip automatic docking and installation device according to claim 4, characterized in that, The partial rotation guide surface is in a partially expanded shape, and in the front-to-back direction, its width gradually decreases from the side away from the edge to the side corresponding to the edge.

6. The hemostatic clip automatic docking and installation device according to claim 5, characterized in that, The local rotation guiding surface is a spiral surface, an inclined surface or a curved surface.

7. The automatic docking and installation device for hemostatic clips according to claim 2, characterized in that, The guide drive member is an electric cylinder, and the transverse guide rail includes an upper guide rail and a lower guide rail. The head of the electric cylinder is rotatably connected to the left connecting rod and the right connecting rod, and the left connecting rod and the right connecting rod are rotatably connected to the left guide block and the right guide block respectively, and the left guide block and the right guide block are slidably matched with the upper guide rail and the lower guide rail; when the head of the electric cylinder is extended, the left guide block and the right guide block are separated to both ends, and when the head of the electric cylinder is retracted, the left guide block and the right guide block are merged to the middle.

8. The automatic docking and installation device for hemostatic clips according to claim 1, characterized in that, The lifting platform mechanism includes a first lifting opening and closing plate and a second lifting opening and closing plate, wherein the first lifting opening and closing plate and the second lifting opening and closing plate are installed on an opening and closing driving mechanism, and the opening and closing driving mechanism is installed on a lifting driving mechanism; the lifting driving mechanism is used to drive the first lifting opening and closing plate and the second lifting opening and closing plate to lift and lower in the docking groove, and the opening and closing driving mechanism is used to drive the first lifting opening and closing plate and the second lifting opening and closing plate to open and close when they are located below the docking groove.

9. The hemostatic clip automatic docking and installation device according to claim 8, characterized in that, The opening and closing drive mechanism includes an opening and closing drive motor, a bidirectional screw and an opening and closing guide rail. The opening and closing drive motor is connected to the transversely arranged bidirectional screw in a transmission manner. The first lifting opening and closing plate and the second lifting opening and closing plate are matched with the reverse threaded portion of the bidirectional screw through the first moving block and the second moving block. The first moving block and the second moving block are slidably matched with the opening and closing guide rail.

10. The hemostatic clip automatic docking and installation device according to claim 9, characterized in that, The lifting drive mechanism includes a lifting drive motor, a one-way screw and a lifting guide rail. The lifting drive motor is drivingly connected to the vertically arranged one-way screw. The opening and closing guide rail is slidingly matched with the lifting guide rail and matched with the one-way screw through a third moving block.

11. The hemostatic clip automatic docking and installation device according to claim 1, characterized in that, The storage and release mechanism includes a standby bin and a standby bin delivery mechanism; the standby bin delivery mechanism is located above the docking groove, and the standby bin is installed on the standby bin delivery mechanism; the standby bin delivery mechanism is used to drive the standby bin to move up and down together, so as to release the hemostatic clip box stored inside the standby bin from the bottom of the standby bin downward.

12. The hemostatic clip automatic docking and installation device according to claim 11, wherein, The shell of the standby bin has a cavity for accommodating a plurality of hemostatic clip boxes, the upper portion of the cavity is provided with a pushing component elastically supported downward by a first spring, and the lower portion of the pushing component is used for stacking and storing the hemostatic clip boxes; a hemostatic clip box release port is provided at the bottom of the cavity, and box body buckles supported by a second spring are provided on both sides of the release port, and the box body buckles confine the hemostatic clip box placed in the standby bin within the cavity.

13. The hemostatic clip automatic docking and installation device according to claim 12, characterized in that, Both sides of the docking groove are provided with upwardly protruding release fitting parts, and the release fitting parts are provided with inclined surfaces that can cooperate with the box body buckles of the stand-by bin, so that when the stand-by bin moves downward relative to the docking groove, the box body buckles are triggered to release the restriction on the bottom layer of the hemostatic clip box and release it once.

14. The hemostatic clip automatic docking and installation device according to claim 11, characterized in that The standby warehouse delivery mechanism includes a rotating motor, an eccentric shaft disk, a connecting rod, a slider, a delivery guide rail and a mobile warehouse; the eccentric shaft disk is arranged at the output end of the rotating motor, the eccentric circular protrusion at one end of the eccentric shaft disk is rotatably connected to the connecting rod, the connecting rod is rotatably connected to the slider, the slider is slidably connected to the vertically arranged delivery guide rail, the slider passes through one end of the delivery guide rail and is connected to the mobile warehouse, and the standby warehouse is installed on the mobile warehouse.

15. The hemostatic clip automatic docking and installation device according to claim 14, wherein The shell of the standby bin is provided with a fixing hole, and the mobile bin is provided with an elastic buckle matched with the fixing hole to fix the standby bin in the mobile bin, and the elastic buckle is provided with a handle for operation.

16. The hemostatic clip automatic docking and installation device according to any one of claims 1 to 15, characterized in that, It also includes a consumables recovery bin, which is located below the docking slot and is used to receive the empty hemostatic clip box released from the docking slot.

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