Automatic docking and installation device for hemostatic clips

Abstract

The present invention relates to an automatic docking and installation device for a hemostatic clip, comprising a frame, a docking slot, a guide mechanism, a lifting platform mechanism, and a storage and release mechanism; the docking slot is used to accommodate a hemostatic clip cartridge released from the bottom of the storage and release mechanism; the guide mechanism is used to guide the outer tube and the clamping head of the docking instrument of the hemostatic clip; the interior of the storage and release mechanism is used to store the hemostatic clip cartridge and can release the hemostatic clip cartridge stored therein from the bottom downward; the lifting platform mechanism is used to carry the hemostatic clip cartridge released from the bottom of the storage and release mechanism; the lifting platform mechanism can drive the hemostatic clip cartridge to move up and down in the docking slot and release an empty hemostatic clip cartridge. The device can realize automatic and intelligent docking between the docking instrument and the hemostatic clip, solve the technical problem of rapid clamping between the clamping head of the docking instrument and the hemostatic clip, reduce the participation and operation time of personnel during surgery, and make the entire docking process smoother, easier, safer, and more environmentally friendly.

Description

Technical Field

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

[0002] Currently, in clinical medical applications, hemostatic clips are used in conjunction with endoscopes. Under endoscopic visualization, hemostatic clips are placed in the upper and lower gastrointestinal tracts to mechanically stop bleeding caused by various reasons. For example, arterial bleeding, persistent oozing, and bleeding from vascular stumps are common. During hemostatic clip procedures, most hemostatic clips and docking devices are integrated. After release, the entire docking device cannot be reused, resulting in significant waste. Some hemostatic clips and docking devices can be docked, but they require manual installation, which is not only cumbersome for medical staff but also prone to secondary contamination and inconvenience. 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 present invention provides an automatic docking and installation device for hemostatic clips, comprising a frame, a docking slot, 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 interface 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 clamping head of the docking device of the hemostatic clip, so as to guide the clamping head from front to back into the docking groove, and during the guiding process, the clamping head is rotated to an angle and orientation capable of being engaged with the hemostatic clip in the hemostatic clip cartridge;

[0007] The storage and release mechanism is located above the docking slot, and is used to store the hemostatic cartridge therein, and can release the stored hemostatic cartridge 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 cartridge released from the bottom of the storage and release mechanism; the lifting platform mechanism can drive the hemostatic clip cartridge to move up and down in the docking slot so that the hemostatic clip cartridge is in the docking position, and can release the empty hemostatic clip cartridge from the docking slot after the docking is completed and the docking instrument drives the hemostatic clip to detach from the hemostatic clip cartridge.

[0009] Optionally, 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 clamp of the docking instrument.

[0010] Optionally, the guide hole formed after the left guide block and the right guide block are matched includes 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 after the outer tube of the docking instrument moves into place, and the second guide hole is used to rotationally guide the clamping head of the docking instrument to continue moving forward, so that the constraint plane of the clamping head is parallel to the constraint plane of the hemostatic clamp.

[0011] Optionally, the cross section of the second guide hole is square, and the inlet end thereof is provided with a local rotation guide surface corresponding to each edge.

[0012] Optionally, the partial rotation guide surface is in a partially flared 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.

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

[0014] Optionally, the guide drive 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 rotatably connected to the left connecting rod and the right connecting rod, 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 slide in cooperation 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.

[0015] Optionally, the lifting platform 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 the opening and closing drive mechanism, and the opening and closing drive mechanism is installed on the lifting drive mechanism; the lifting drive 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 drive 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.

[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 connected to the transversely arranged bidirectional screw. 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.

[0017] Optionally, the lifting drive mechanism includes a lifting drive motor, a one-way screw and a lifting guide rail. The lifting drive motor is transmission-connected to the vertically arranged one-way screw, and 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.

[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 slot, 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 downward.

[0019] Optionally, the shell of the standby bin has a cavity for accommodating multiple hemostatic clip boxes, the upper part of the cavity is provided with a pushing component elastically supported downward by a first spring, and the bottom of the pushing component is used for stacking and storing hemostatic clip boxes; the bottom of the cavity is provided with a hemostatic clip box release port, and both sides of the release port are provided with box body buckles supported by a second spring, and the box body buckles will confine the hemostatic clip box placed in the standby bin within the cavity.

[0020] Optionally, upwardly protruding release fitting parts are provided on both sides of the docking groove, and the release fitting 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 to release the restriction of the hemostatic clip box at the bottom layer and release it once.

[0021] Optionally, 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.

[0022] Optionally, a fixing hole is provided on the shell of the standby bin, and the mobile bin is provided with an elastic buckle that cooperates with the fixing hole to fix the standby bin in the mobile bin, and the elastic buckle is provided with a handle for operation.

[0023] Optionally, a consumables recovery bin is further included, 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 can automatically remove and discard the hemostatic clip box through the coordinated cooperation of the docking groove, the guide mechanism, the lifting platform mechanism and the storage and release mechanism, and can guide the outer tube and the clamping head of the docking instrument so that the clamping head can be aligned with the hemostatic clip in the hemostatic clip box, ultimately realizing automatic and intelligent docking of the docking instrument and the hemostatic clip. It is a very humane solution to the technical problem of how to quickly clamp the clamping head of the docking instrument and the hemostatic clip, reducing the participation and operation time of personnel during the operation, making the entire docking process smoother, easier, safer and more environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 An isometric view of the automatic docking and installation device for a hemostatic clip provided in an embodiment of the present invention;

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

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

[0028] Figure 4 for Figure 1 Schematic diagram of the automatic docking and installation device for hemostatic clips after the shell and consumables recovery bin are disassembled;

[0029] Figure 5 for Figure 4 An isometric view of the automatic docking and installation device for hemostatic clips with the outer shell removed;

[0030] Figure 6 for Figure 5 Schematic diagram of the decomposition structure;

[0031] Figure 7 for Figure 5 The main view;

[0032] Figure 8 for Figure 7 A top view of

[0033] Figure 9 for Figure 7 Right view;

[0034] Figure 10 for Figure 9 AA view;

[0035] Figure 11 for Figure 9 BB view;

[0036] Figure 12 for Figure 6 A schematic structural diagram of the guide mechanism shown in FIG;

[0037] Figure 13 for Figure 6 Schematic diagram of the exploded structure of the guide mechanism shown in ;

[0038] Figure 14 for Figure 6 A top view of the guide mechanism shown in ;

[0039] Figure 15 for Figure 14 AA view;

[0040] Figure 16 for Figure 15 BB view;

[0041] Figure 17 Schematic diagram of the left guide block and the right guide block;

[0042] Figure 18 for Figure 17 AA view;

[0043] Figure 19 for Figure 17 BB view;

[0044] Figure 20 An axonometric view of the left and right guide blocks guiding the outer tube of the docking device;

[0045] Figure 21 A top view of the left and right guide blocks guiding the outer tube of the docking device;

[0046] Figure 22 A front view of the left and right guide blocks guiding the outer tube of the docking device;

[0047] Figure 23 for Figure 22 DD view;

[0048] Figure 24 Axonometric view of the left and right guide blocks guiding the chuck of the docking device;

[0049] Figure 25 A top view of the left and right guide blocks guiding the chuck of the docking device;

[0050] Figure 26 for Figure 25 EE view;

[0051] Figure 27 for Figure 26 FF view;

[0052] Figure 28 Axonometric view of the left and right guide blocks guiding the chuck of the docking device;

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

[0054] Figure 30 for Figure 29 EE view;

[0055] Figure 31 for Figure 30 FF view;

[0056] Figure 32 It is the axonometric view of the lifting platform mechanism;

[0057] Figure 33 for Figure 32 Schematic diagram of the exploded structure of the lifting platform mechanism shown;

[0058] Figure 34 This is a schematic diagram of the overall structure of the standby warehouse;

[0059] Figure 35 for Figure 34 The exploded structural diagram of the standby warehouse is shown;

[0060] Figure 36 for Figure 34 The front view of the standby bin shown;

[0061] Figure 37 for Figure 36 AA view;

[0062] Figure 38 for Figure 37 BB view;

[0063] Figure 39 It is an axonometric view of the standby bin delivery mechanism cooperating with the standby bin;

[0064] Figure 40 for Figure 39 Schematic diagram of the decomposition structure;

[0065] Figure 41 It is a front view of the standby warehouse delivery mechanism cooperating with the standby warehouse;

[0066] Figure 42 for Figure 41 sectional view of

[0067] Figure 43 for Figure 41EE view;

[0068] Figure 44 A schematic structural diagram of the hemostatic clip automatic docking and installation device 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 structural diagram 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 after the middle clip is reset and re-constrained;

[0074] Figure 50 A schematic structural diagram 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 structural diagram 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 structural diagram 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 partially enlarged schematic diagram of the middle pipe and the clamp driving the hemostatic clamp to move outward;

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

[0090] Figure 66 for Figure 63 A partially enlarged schematic diagram of the middle pipe and the clamp driving the hemostatic clamp 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 where the middle pipe and the clamp drive the hemostatic clamp to move outward.

[0097] In the picture:

[0098] 1-housing; 2-frame; 3-docking slot; 31-release fitting portion; 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-clamp; 10-guide tube. DETAILED DESCRIPTION

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

[0100] In this article, terms such as "upper, lower, inside, outside" are established based on the positional relationships shown in the drawings. Depending on the different drawings, the corresponding positional relationships may also change accordingly. Therefore, they cannot be understood as absolute limitations on the scope of protection; moreover, relational terms such as "first" and "second" are only 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 the automatic docking and installation device for a hemostatic clip provided in an embodiment of the present invention; Figure 2 for Figure 1A top view of the automatic docking and installation device for hemostatic clips shown; Figure 3 for Figure 1 A right side view of the automatic docking and installation device for hemostatic clips shown; Figure 4 for Figure 1 Schematic diagram of the automatic docking and installation device for hemostatic clips after the shell and consumables recovery bin are disassembled; Figure 5 for Figure 4 An isometric view of the automatic docking and installation device for hemostatic clips with the outer shell removed; Figure 6 for Figure 5 Schematic diagram of the decomposition structure; Figure 7 for Figure 5 The main view; Figure 8 for Figure 7 A top view of Figure 9 for Figure 7 Right view; Figure 10 for Figure 9 AA view; Figure 11 for Figure 9 BB view.

[0102] As shown in the figure, in a specific embodiment, the automatic docking and installation device for hemostatic clips provided by the present invention is mainly composed of a shell 1, a frame 2, a docking groove 3, a guide mechanism 4, a lifting platform mechanism 5, a storage and release mechanism 6, and a consumables recovery bin 7. Among them, the frame 2 is used to fix the various components and the shell 1 and play a supporting role.

[0103] The docking slot 3 is in a shape with a frame on all sides, and is provided with openings at the front and rear ends. The docking slot 3 is roughly located in the center of the entire device. It is fixed to the guide mechanism 4 and is located on the rear side of the guide mechanism 4. The guide mechanism 4 is installed on the frame 2 with a base. The docking slot 3 is mainly used to accommodate the hemostatic clip cartridge 8 released from the bottom of the storage and release mechanism 6, so that the docking instrument 9 and the hemostatic clip 81 in the hemostatic clip cartridge 8 can be docked in the docking slot 3.

[0104] The guide mechanism 4 is located at the front side of the docking groove 3, and is used to guide the outer tube 91 and the clamping head 92 of the docking device 9 of the hemostatic clip 81, so as to guide the clamping head 92 from front to back into the docking groove 3, and during the guiding process, the clamping head 92 is rotated to an angle and orientation that can be clamped with the hemostatic clip 81 in the hemostatic clip box 8.

[0105] The storage and release mechanism 6 is located above the docking slot 3 , and is used to store the hemostatic cartridges 8 therein. The storage and release mechanism 6 can release the stored hemostatic cartridges 81 therein one by one from the bottom downward.

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

[0107] The consumables recovery bin 7 is located below the docking slot 3 to automatically and uniformly contain the empty hemostatic clip cartridges 8 released from the docking slot 3, thereby realizing centralized processing of used consumables and being more environmentally friendly.

[0108] Please refer to Figures 12 to 19 , Figure 12 for Figure 6 A schematic structural diagram of the guide mechanism shown in FIG; Figure 13 for Figure 6 Schematic diagram of the exploded structure of the guide mechanism shown in ; Figure 14 for Figure 6 A top view of the guide mechanism shown in ; Figure 15 for Figure 14 AA view; Figure 16 for Figure 15 BB view; Figure 17 Schematic diagram of the left guide block and the right guide block; Figure 18 for Figure 17 AA view; Figure 19 for Figure 17 BB view.

[0109] As shown in the figure, the guide mechanism 4 is mainly used to guide the clamping head 92 of the docking instrument 9 to a specific angle and orientation to facilitate docking with the hemostatic clamp 81. It is provided with two guide blocks that can open and close with each other. After merging, the outer tube 91 of the docking instrument 9 can be clamped. The interior of the guide tube 10 is provided with a channel for the docking instrument to enter, so as to guide the docking instrument 9 to reach the guide mechanism 4.

[0110] Specifically, the guide mechanism 4 is mainly composed of a support plate 41 , a guide drive 42 , a left guide block 43 , a right guide block 44 and a transverse guide rail 45 , wherein the support plate 41 is used to fix the components of the guide mechanism 4 .

[0111] The left and right guide blocks 43 and 44 are symmetrically mounted on transverse guide rails 45. In this embodiment, the guide drive 42 is an electric cylinder. The transverse guide rails 45 are divided into upper guide rails 451 and lower guide rails 452. The upper guide rails 451 and lower guide rails 452 jointly constrain the left and right guide blocks 43 and 44 to linear motion. The left connecting rod 46 and the right connecting rod 47 are arranged in a V-shape. The head of the guide drive 42 is rotatably connected to one end 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 rotatably connected to the left and right guide blocks 43 and 44, respectively. The left and right guide blocks 43 and 44 slide in engagement with the upper and lower guide rails 451 and 452. When the head of the guide drive 42 extends, the left and right guide blocks 43 and 44 separate at their ends. When the head of the guide drive 42 retracts, the left and right guide blocks 43 and 44 merge toward the center.

[0112] Semi-guide holes are provided on the mating surfaces of the left guide block 43 and the right guide block 44 . The two semi-guide holes are mated to form a guide hole for guiding the outer tube 91 and the clamp 92 of the docking instrument.

[0113] Specifically, the guide holes formed after the left guide block 43 and the right guide block 44 are matched together are, from front to back, the first guide hole 481, the clamping hole 482 and the second guide hole 483; wherein, the first guide hole 481 is in the shape of a flared trumpet, for guiding the outer tube 91 of the docking instrument 9, the clamping hole 482 is used to clamp the outer tube 91 of the docking instrument 9 after the outer tube 91 moves into place, and the second guide hole 483 is used to rotationally guide the clamping head 92 that continues to move forward, so that the constraint plane of the clamping head 92 is parallel to the constraint plane of the hemostatic clamp 81.

[0114] In this embodiment, the chuck 92 is generally conical, with a total of four constraint planes around the bottom. The cross-section of the second guide hole 483 is square, which is adapted to the shape formed by the four constraint planes of the chuck 92. Its inlet end is provided with a local rotation guide surface 4831 corresponding to each edge. The four local rotation guide surfaces 4831 are rotationally symmetrical about the central axis of the second guide hole 483. Each local rotation guide surface 4831 is in a partially flared shape. In the front-to-back direction, its width gradually decreases from the side away from the edge to the side corresponding to the edge. Specifically, it can be a spiral surface, a bevel or an arc surface.

[0115] Please continue to refer to Figures 20 to 31 , Figure 20 An axonometric view of the left and right guide blocks guiding the outer tube of the docking device; Figure 21 A top view of the left and right guide blocks guiding the outer tube of the docking device; Figure 22 A front view of the left and right guide blocks guiding the outer tube of the docking device; Figure 23 for Figure 22DD view; Figure 24 Axonometric view of the left and right guide blocks guiding the chuck of the docking device; Figure 25 A top view of the left and right guide blocks guiding the chuck of the docking device; Figure 26 for Figure 25 EE view; Figure 27 for Figure 26 FF view; Figure 28 Axonometric view of the left and right guide blocks guiding the chuck of the docking device; Figure 29 A top view of the left and right guide blocks guiding the chuck of the docking device; Figure 30 for Figure 29 EE view; Figure 31 for Figure 30 FF view.

[0116] As shown in the figure, during docking, the left guide block 43 and the right guide block 44 of the guide mechanism 4 first open a small opening to allow the outer tube 91 of the docking device 9 to enter, but it can only enter to the position where the end of the first guide hole 481 is located. At this time, the outer tube 91 and the clamping head 92 move together, and the clamping head 92 is completely located inside the outer tube 91.

[0117] When the outer tube 91 moves into place, the left guide block 43 and the right guide block 44 merge, and the outer tube 91 is clamped through the clamping hole 482. At this time, the clamping head 92 continues to enter. When the clamping head 92 contacts the local rotation guide surface 4831 of the second guide hole 482, the local rotation guide surface 4831 will constrain the clamping head 92 to rotate forward toward the exit. When the clamping head 92 passes through the two guide blocks, the constraint plane of the clamping head 92 is parallel to the constraint surface of the hemostatic clip 81, so as to facilitate the clamping of the two.

[0118] Please refer to Figure 32 、 Figure 33 , Figure 32 It is the axonometric view of the lifting platform mechanism; Figure 33 for Figure 32 Schematic diagram of the exploded structure of the lifting platform mechanism shown.

[0119] As shown in the figure, the lifting platform mechanism 5 is provided with a first lifting opening and closing plate 51 and a second lifting opening and closing plate 52 that can open and close with each other and move up and down together. They are 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 consumables recovery bin 7.

[0120] The first and second lifting and opening and closing plates 51, 52 are mounted on an opening and closing drive mechanism 53, which is in turn mounted on a lifting drive mechanism 54. The lifting drive mechanism 54 is used to drive the first and second lifting and opening and closing plates 51, 52 to move upward and downward within the docking groove 3, while the opening and closing drive mechanism 53 is used to drive the first and second lifting and opening and closing plates 51, 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 to 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 to the one-way screw 542. The opening and closing guide rail 533 slides with the lifting guide rail 543 and cooperates with the one-way screw 542 through the third moving block 544.

[0123] When the opening and closing drive 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 drive 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 can restrict the range of the up and down movement of the first lifting opening and closing plate 51 and the second lifting opening and closing plate 52 by detecting the opening and closing guide rail 533 .

[0125] Please refer to Figures 34 to 43 , Figure 34 This is a schematic diagram of the overall structure of the standby warehouse; Figure 35 for Figure 34 The exploded structural diagram of the standby warehouse is 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 41It is a front view of the standby warehouse delivery mechanism cooperating with the standby warehouse; Figure 42 for Figure 41 sectional view of Figure 43 for Figure 41 EE view of the .

[0126] As shown in the figure, the storage and release mechanism 6 is mainly composed of a standby bin 61 and a standby bin delivery mechanism 62. The standby bin delivery mechanism 62 is located above the docking slot 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 the standby bin 61 from the bottom of the standby bin 61 downward.

[0127] Specifically, the housing of the standby compartment 61 has a cavity for accommodating multiple hemostatic clips. A push member 613 is provided at the top of the cavity, elastically supported downward by a first spring 611. Below the push member 613 is a stacked storage area for the hemostatic clips 8. A hemostatic clip release port is provided at the bottom of the cavity, flanked by two second springs 612-supported cartridge latches 614. These latches 614 prevent the hemostatic clips 8 placed in the standby compartment 61 from falling out of the cavity. The latches 614 are designed with inclined surfaces, which not only effectively press the hemostatic clips 8 into the compartment but also release the clips 8 by engaging with the inclined surfaces 311 of the protruding release mating portion 31 of the docking slot 3. The first spring 611 presses the loaded hemostatic clip 8 against the release port, facilitating engagement with the docking slot 3 and releasing the hemostatic clip 8.

[0128] The box body buckle 614 can slide and fit in the openings on both sides of the shell end of the standby bin 61, and the rear end conflicts with the second spring 612, and the other end of the second spring 612 conflicts with 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 and can be quickly connected with the standby bin 61, and moves with the standby bin 61 relative to the docking groove 3. Each movement releases a hemostatic clip box 8 for docking operation.

[0130] The internal space of the docking slot 3 can accommodate the hemostatic clip box 8 and the combined first lifting opening and closing plate 51 and the second lifting opening and closing plate 52. The two sides of the docking slot 3 are provided with upwardly protruding release fitting parts 31. The release fitting parts 31 are provided with inclined surfaces 311 that can cooperate with the box body buckle 614 of the standby bin 61, so that when the standby bin 61 moves downward relative to the docking slot 3, the box body buckle 614 is triggered, so that the box body buckle 614 releases the restriction on the bottom hemostatic clip box 8 and releases it once.

[0131] Specifically, the standby warehouse delivery mechanism 62 is mainly composed of a rotating motor 621, an eccentric shaft disk 622, a connecting rod 623, a slider 624, a delivery guide rail 625 and a mobile warehouse 626; the eccentric shaft disk 622 is arranged at the output end of the rotating 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, and the connecting rod 623 is rotatably connected to the slider 624. The delivery guide rail 625 is arranged vertically, and the slider 624 is slidably connected to the T-slot of the delivery guide rail 625. The delivery guide rail 625 has a vertical slide groove at the bottom of its T-slot, and the slider 624 passes through one end of the vertical slide groove of the delivery guide rail 625 and is connected to the mobile warehouse 626 through a fixed plate 627.

[0132] The standby bin 61 is installed in the mobile bin 626. A fixing hole 615 is provided on the shell of the standby bin 61. The mobile bin 626 is provided with an elastic clip 6261 that cooperates with the fixing hole 615 to fix the standby bin 61 in the mobile bin 626. The elastic clip 6261 is provided with a handle 6262 for operation. By pulling the handle 6262 outward, the lock can be released and the standby bin 61 can be taken out.

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

[0134] During operation, the left guide block 43 and the right guide block 44 provided in the guide mechanism 4 can open and close automatically. After merging, the docking non-circular clamping head 92 can be rotated to a specific direction position after being guided, and then docked with the head of the hemostatic clip 81 in the hemostatic clip box 8 and clamped together; the lifting platform mechanism 5 is provided with a first lifting opening and closing plate 51 and a second lifting opening and closing plate 52, which can open and close relative to each other, and can also move up and down together to receive the hemostatic clip box 8 coming out of the standby bin 61 and deliver it to the assembly position. After the hemostatic clip 81 is pulled out, it can be separated from each other to make way for the hemostatic clip box 8 to fall into the consumables recovery bin 7; the standby bin delivery mechanism 62 is provided with a movable bin 626 that can move up and down. The movable bin 626 is used to quickly clamp the serving bin 61. Each downward movement will release a hemostatic clip box 8. The standby bin 61 is used to store the hemostatic clip box 8 containing the hemostatic clip 81, and the consumables recovery bin 7 is used to store the used hemostatic clip box 8.

[0135] like 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 are merged and rise to the highest point in the docking groove 3. 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 fitting portion 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 latch 614 in the standby bin 61 disengages from the release fitting portion 31 of the docking slot 3, returns to its 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, allowing the outer tube 91 of the docking instrument 9 to enter and to come into contact with the internal guide surface. Then, the outer tube 91 of the docking instrument 9 and the clamping head 92 are delivered from the guide tube 10 to the designated position together. At this time, the clamping head 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 continued to be delivered forward and guided by the second guide hole 483, and then enters the interior of the hemostatic clip box 8 and docks with the hemostatic clip 81.

[0139] like Figures 60 to 66 As shown, when the hemostatic clip automatic docking installation device performs 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 and installation device for the hemostatic clip is executing the sixth step, after the hemostatic clip 81 is pulled into the guide tube 10, the first and second lifting and closing plates 51, 52 separate, releasing the remaining hemostatic clip cartridge 8 into the lower consumables recovery bin 7. The first and second lifting and closing plates 51, 52, and the left and right guide blocks 43, 44 are then closed. Once the hemostatic clip 81 is pulled out of the guide tube 10, one docking and installation is complete. Repeating the above steps allows for another docking and installation.

[0141] The above is a detailed introduction to the automatic docking and installation device for hemostatic clips provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An automatic docking and installation device for a hemostatic clip, characterized in that: It includes a frame, a docking slot, a guide mechanism, a lifting platform mechanism, and a storage and 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 interface 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 clamping head of the docking device of the hemostatic clip, so as to guide the clamping head from front to back into the docking groove, and during the guiding process, the clamping head is rotated to an angle and orientation capable of being engaged with the hemostatic clip in the hemostatic clip cartridge; The storage and release mechanism is located above the docking slot, and is used to store the hemostatic cartridge therein, and can release the stored hemostatic cartridge 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 cartridge released from the bottom of the storage and release mechanism; the lifting platform mechanism can drive the hemostatic clip cartridge to move up and down in the docking slot so that the hemostatic clip cartridge is in the docking position, and can release the empty hemostatic clip cartridge from the docking slot after the docking is completed and the docking instrument drives the hemostatic clip to detach from the hemostatic clip cartridge; The guide mechanism includes a guide drive member, a left guide block, and a right guide block. Semi-guide holes are provided on the mating surfaces of the left guide block and the right guide block. The semi-guide holes are mated to form a guide hole for guiding the outer tube and the clamp of the docking instrument. The guide holes formed by the left guide block and the right guide block being aligned 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 it moves into position, and the second guide hole is used to rotationally guide the clamping head of the docking instrument as it continues to move forward, so that the constraint plane of the clamping head is parallel to the constraint plane of the hemostatic clip; The inlet end of the second guide hole is provided with a local rotation guide surface corresponding to each edge.

2. The automatic docking and installation device for hemostatic clips according to claim 1, characterized in that: The guide mechanism includes 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 member 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.

3. The automatic docking and installation device for hemostatic clips according to claim 1, characterized in that: The cross section of the second guide hole is square.

4. The automatic docking and installation device for hemostatic clips according to claim 1, characterized in that: The partial rotation guide surface is in a partially flared 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.

5. The automatic docking and installation device for hemostatic clips according to claim 4, characterized in that: The local rotation guide surface is a spiral surface, an inclined surface or an arc surface.

6. The automatic docking and installation device for hemostatic clips according to claim 2, characterized in that: The guide drive component 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. The left guide block and the right guide block are slidingly 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.

7. 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, which are installed on an opening and closing drive mechanism, and the opening and closing drive mechanism is installed on a lifting drive mechanism; the lifting drive 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 drive 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.

8. The automatic docking and installation device for hemostatic clips according to claim 7, 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. 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.

9. The automatic docking and installation device for hemostatic clips according to claim 8, 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 connected to the vertically arranged one-way screw in a transmission manner. The opening and closing guide rail is slidably matched with the lifting guide rail and is matched with the one-way screw through a third moving block.

10. The automatic docking and installation device for hemostatic clips 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 slot, 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 downward.

11. The automatic docking and installation device for hemostatic clips according to claim 10, characterized in that: The shell of the standby bin has a cavity for accommodating multiple hemostatic clips, the upper part of the cavity is provided with a pushing component elastically supported downward by a first spring, and the bottom of the pushing component is used for stacking and storing hemostatic clips; the bottom of the cavity is provided with a hemostatic clip release port, and both sides of the release port are provided with box body buckles supported by a second spring, and the box body buckles confine the hemostatic clip placed in the standby bin within the cavity.

12. The automatic docking and installation device for hemostatic clips according to claim 11, 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 standby bin, so that when the standby bin moves downward relative to the docking groove, the box body buckles are triggered to release the restriction of the hemostatic clip box at the bottom layer and release it once.

13. The automatic docking and installation device for hemostatic clips according to claim 10, 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.

14. The automatic docking and installation device for hemostatic clips according to claim 13, characterized in that: 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.

15. The automatic docking and installation device for hemostatic clips according to any one of claims 1 to 14, 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 cartridge released from the docking slot.

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